Vertical manipulator with adsorption function

Abstract

The utility model discloses a vertical manipulator with an adsorption function, which comprises a manipulator body, a first mechanical arm mounted at the top of the manipulator body, a second mechanical arm mounted at one end of the first mechanical arm, a mounting seat mounted at one end of the second mechanical arm, a base fixed at the bottom of the mounting seat, and a clip-shaped seat fixed at the bottom of the base. A suction cup is arranged at the bottom of the first mechanical arm, a rectangular block is fixed to the top of the suction cup, a through hole is formed in the side wall of the rectangular block, clamping mechanisms used for clamping the rectangular block are arranged on the two symmetrical outer side walls of the concentric-square-shaped base correspondingly, two supporting plates are symmetrically arranged on the top of the mounting base, and the inner side walls of the two supporting plates are rotationally connected with the same annular sleeve plate. The inner side wall of the annular sleeve plate is sleeved with a first sleeve. Through the design of the two clamping mechanisms, the suction cup is allowed to be replaced quickly, the whole mechanical arm does not need to be replaced, flexible adjustment can be conducted according to the requirements of materials of different specifications, the applicability of equipment is improved, and the use cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a vertical robotic arm with adsorption function. Background Technology

[0002] A robotic hand, also known as a robotic arm or robotic hand, is a mechanical device that mimics the functions of a human hand. It typically consists of multiple joints, sensors, and actuators, and can perform complex actions such as grasping, moving, and rotating. With the development of automation technology, robotics has been widely used in various fields such as industry, medicine, and services. Among them, the robotic hand is a key component of a robot system, and its performance directly affects the overall efficiency and operational capabilities of the robot. The design of traditional robotic hands mainly aims to simulate the movement and grasping ability of a human hand. However, in some specific application scenarios, traditional robotic hands often face challenges such as insufficient grasping force and poor stability when grasping and handling objects with irregular shapes, smooth surfaces, or light weights. In order to improve the grasping ability of robotic hands, researchers and engineers have gradually explored the introduction of adsorption technology. Adsorption can be achieved through negative pressure adsorption, electrostatic adsorption, or other physicochemical principles, enabling robotic hands to grasp various objects more flexibly without relying on traditional mechanical grippers. Especially when handling smooth surfaces such as glass, metal, and plastic, the application of adsorption technology can significantly improve the reliability and efficiency of grasping. Therefore, a vertical robotic hand with adsorption function is needed.

[0003] Traditional robotic arms typically use suction cups designed for materials of specific sizes and shapes. When dealing with materials of different sizes or shapes, existing suction cups cannot meet the requirements. This necessitates users replacing the entire robotic arm or its suction components in different application scenarios, significantly reducing the system's flexibility. Due to the non-replaceability of suction cups, companies often need to configure different robotic arms or suction cups for each material when facing diverse production needs. This not only increases the initial cost of equipment purchase but also leads to the complexity of subsequent maintenance and management, further increasing the overall operating cost. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a vertical robotic arm with adsorption function.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A vertical robotic arm with adsorption function includes a robotic arm body. A first robotic arm is mounted on the top of the robotic arm body, and a second robotic arm is mounted on one end of the first robotic arm. A mounting base is mounted on one end of the second robotic arm, and a base is fixed to the bottom of the mounting base. A U-shaped seat is fixed to the bottom of the base. A suction cup is provided at the bottom of the first robotic arm, and a rectangular block is fixed to the top of the suction cup. A through hole is opened on the side wall of the rectangular block. The two outer side walls of the U-shaped seat are symmetrically provided with a locking mechanism for locking the rectangular block. Two support plates are symmetrically arranged on the top of the mounting base. The inner wall of the support plate is rotatably connected to the same annular sleeve. The inner wall of the annular sleeve is fitted with a first sleeve. The inner wall of the first sleeve is slidably connected to a piston. One end of the piston is fixed with a connecting rod, and one end of the connecting rod passes through the outer wall of one end of the first sleeve. The side wall of the second robotic arm is provided with a moving mechanism for moving the piston. During use, the design of the two snap-fit ​​mechanisms allows for quick replacement of the suction cup without replacing the entire robotic arm. This allows for flexible adjustment according to the material requirements of different specifications, improving the applicability of the equipment and reducing the cost of use.

[0007] Preferably, the locking mechanism includes a second sleeve, which is disposed through the outer wall of one end of the U-shaped seat. A circular slider is slidably connected to the inner wall of the second sleeve. A locking pin is fixed to one end of the circular slider, and one end of the locking pin passes through the outer wall of one end of the second sleeve. A threaded rod is rotatably connected to the other end of the circular slider, and one end of the threaded rod passes through the outer wall of the other end of the second sleeve. A spring is disposed inside the second sleeve and is sleeved on the side wall of the threaded rod. An internal threaded sleeve is fixed to the outer wall of the other end of the second sleeve, and the internal threaded sleeve is adapted to the threaded rod. A transmission block is fixed to one end of the threaded rod, which is driven by a hand-held power component in conjunction with two transmission blocks. The two threaded rods rotate, engaging with the two internal threaded sleeves to move the two circular sliders along the inner walls of the two second sleeves until the locking pins retract into the two second sleeves. Then, the rectangular block is inserted into the U-shaped seat. The two threaded rods are then rotated in the opposite direction, moving the two circular sliders along the inner walls of the two second sleeves in the opposite direction until both locking pins are inside the rectangular block. This completes the installation of the suction cup. The operation is simple, saves time, and facilitates the installation or replacement of the suction cup. In later use, when processing materials of different specifications, only the suction cup needs to be replaced, without replacing the entire robotic arm, improving the flexibility of the equipment and significantly reducing operating costs.

[0008] Preferably, the moving mechanism includes a hydraulic push rod, which is disposed on the side wall of the second robotic arm. A connecting block is fixed to the bottom end of the hydraulic push rod. A U-shaped plate is fixed to the side wall of the second robotic arm, and the U-shaped plate and the connecting block are rotatably connected. The output end of the hydraulic push rod is rotatably connected to one end of the connecting rod. An air inlet is provided through the outer wall of one end of the first sleeve. A first one-way valve is installed on the outer wall of the air inlet. An air inlet pipe is provided through the outer wall of one end of the suction cup, and the air inlet pipe and the air inlet are connected. Driving the hydraulic push rod in conjunction with the connecting rod drives the piston to move along the inner side wall of the first sleeve. At this time, the air in the suction cup is drawn into the first sleeve through the air inlet, the first one-way valve, and the air inlet pipe. At this time, the suction cup is in a negative pressure state, which can firmly adsorb the object on the surface of the suction cup, thereby improving the gripping ability of the robotic arm.

[0009] Preferably, an air outlet is provided through the outer wall of one end of the first sleeve, and a second one-way valve is installed on the outer wall of the air outlet. An air outlet pipe is provided through the outer wall of one end of the suction cup, and the air outlet pipe and the air outlet are connected. The hydraulic push rod, in conjunction with the connecting rod, drives the piston to move in the opposite direction. At this time, the air sucked into the first sleeve is re-introduced into the suction cup through the air outlet, the second one-way valve and the piston, releasing the negative pressure state of the suction cup. That is, the suction cup no longer adsorbs the object, thus completing the unloading work.

[0010] The beneficial effects of this utility model are as follows:

[0011] 1. During use, the design of two snap-fit ​​mechanisms allows for quick replacement of the suction cups without replacing the entire robotic arm. This enables flexible adjustments based on the requirements of different material specifications, improving the applicability of the equipment and reducing operating costs.

[0012] 2. The piston is driven to move along the inner wall of the first sleeve by the moving mechanism and the connecting rod. When the suction cup is under negative pressure, it can firmly adsorb the object, providing a strong gripping ability, ensuring stable gripping of the object and reducing the risk of the object slipping during transportation. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of a vertical robotic arm with adsorption function proposed in this utility model;

[0014] Figure 2 This is a schematic diagram of the second robotic arm, mounting base, suction cup, and hydraulic push rod of a vertical robotic hand with adsorption function proposed in this utility model.

[0015] Figure 3 This is a schematic diagram of the moving mechanism of a vertical robotic arm with adsorption function proposed in this utility model.

[0016] Figure 4This is a schematic cross-sectional view of the first sleeve of a vertical manipulator with adsorption function proposed in this utility model.

[0017] Figure 5 This is a schematic diagram of the suction cup, U-shaped base, and base of a vertical robotic arm with adsorption function proposed in this utility model.

[0018] Figure 6 An exploded view of the suction cup, U-shaped base, and base of a vertical robotic arm with adsorption function proposed in this utility model;

[0019] Figure 7 This is a schematic cross-sectional view of the second sleeve of a vertical manipulator with adsorption function proposed in this utility model.

[0020] In the diagram: 1. Main body of the robotic arm; 2. First robotic arm; 3. Second robotic arm; 4. Mounting base; 5. Suction cup; 6. Hydraulic push rod; 7. Support plate; 8. First sleeve; 9. U-shaped seat; 10. U-shaped plate; 11. Connecting block; 12. Annular sleeve; 13. Air inlet; 14. First one-way valve; 15. Air outlet; 16. Second one-way valve; 17. Piston; 18. Connecting rod; 19. Through hole; 20. Base; 21. Rectangular block; 22. Second sleeve; 23. Circular slider; 24. Clamping post; 25. Internal threaded sleeve; 26. Threaded rod; 27. Spring; 28. Transmission block; 29. ​​Air outlet pipe; 30. Air inlet pipe. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0022] Reference Figures 1-7A vertical robotic arm with adsorption function includes a robotic arm body 1, a first robotic arm 2 mounted on the top of the robotic arm body 1, a second robotic arm 3 mounted on one end of the first robotic arm 2, a mounting base 4 mounted on one end of the second robotic arm 3, a base 20 fixed to the bottom of the mounting base 4, a U-shaped seat 9 fixed to the bottom of the base 20, a suction cup 5 at the bottom of the first robotic arm 2, a rectangular block 21 fixed to the top of the suction cup 5, a through hole 19 on the side wall of the rectangular block 21, and a snap-fit ​​mechanism for snapping the rectangular block 21 on both symmetrical outer side walls of the U-shaped seat 9. Two support plates 7 are symmetrically arranged on the top of the mounting base 4. The inner wall is rotatably connected to the same annular sleeve 12. The inner wall of the annular sleeve 12 is fitted with a first sleeve 8. The inner wall of the first sleeve 8 is slidably connected to a piston 17. One end of the piston 17 is fixed with a connecting rod 18, and one end of the connecting rod 18 passes through the outer wall of one end of the first sleeve 8. The side wall of the second robotic arm 3 is provided with a moving mechanism for moving the piston 17. During the use of this equipment, the design of two snap-fit ​​mechanisms allows for quick replacement of the suction cup 5 without replacing the entire robotic arm. This allows for flexible adjustment according to the material requirements of different specifications, improving the applicability of the equipment and reducing the cost of use.

[0023] Furthermore, the locking mechanism includes a second sleeve 22, which is disposed through the outer wall of one end of the U-shaped seat 9. A circular slider 23 is slidably connected to the inner wall of the second sleeve 22. A locking post 24 is fixed to one end of the circular slider 23, and one end of the locking post 24 passes through the outer wall of one end of the second sleeve 22. A threaded rod 26 is rotatably connected to the other end of the circular slider 23, and one end of the threaded rod 26 passes through the outer wall of the other end of the second sleeve 22. A spring 27 is disposed inside the second sleeve 22 and is sleeved on the side wall of the threaded rod 26. An internal threaded sleeve 25 is fixed to the outer wall of the other end of the second sleeve 22, and the internal threaded sleeve 25 is adapted to the threaded rod 26. A transmission block 28 is fixed to one end of the threaded rod 26. The two transmission blocks 28 are engaged by a hand-held power component. The two threaded rods 26 are rotated, which in turn drives the two internal threaded sleeves 25 to move the two circular sliders 23 along the inner walls of the two second sleeves 22 until the locking pins 24 retract into the two second sleeves 22. Then, the rectangular block 21 is inserted into the U-shaped seat 9. The two threaded rods 26 are rotated in the opposite direction, which drives the two circular sliders 23 to move in the opposite direction along the inner walls of the two second sleeves 22 until both locking pins 24 are inside the rectangular block 21. This completes the installation of the suction cup 5. The operation is simple, saves time, and facilitates the installation or replacement of the suction cup 5. In the later use, when it is necessary to process materials of different specifications, only the suction cup 5 needs to be replaced, without replacing the entire robot arm. This improves the flexibility of the equipment and significantly reduces the operating cost.

[0024] Furthermore, the moving mechanism includes a hydraulic push rod 6, which is mounted on the side wall of the second robotic arm 3. A connecting block 11 is fixed to the bottom end of the hydraulic push rod 6. A U-shaped plate 10 is fixed to the side wall of the second robotic arm 3, and the U-shaped plate 10 and the connecting block 11 are rotatably connected. The output end of the hydraulic push rod 6 is rotatably connected to one end of the connecting rod 18. An air inlet 13 is provided through the outer wall of one end of the first sleeve 8, and a first one-way valve 14 is installed on the outer wall of the air inlet 13. An air inlet pipe 30 is provided through the outer wall of one end of the suction cup 5, and the air inlet pipe 30 is connected to the air inlet 13. Driving the hydraulic push rod 6 in conjunction with the connecting rod 18 drives the piston 17 to move along the inner side wall of the first sleeve 8. At this time, the air in the suction cup 5 is drawn into the first sleeve 8 through the air inlet 13, the first one-way valve 14, and the air inlet pipe 30. At this time, the suction cup 5 is in a negative pressure state, which can firmly adsorb the object onto the surface of the suction cup 5, thereby improving the gripping ability of the robotic arm.

[0025] Furthermore, an air outlet 15 is provided through the outer wall of one end of the first sleeve 8, and a second one-way valve 16 is installed on the outer wall of the air outlet 15. An air outlet pipe 29 is provided through the outer wall of one end of the suction cup 5, and the air outlet pipe 29 is connected to the air outlet 15. The hydraulic push rod 6 is driven in conjunction with the connecting rod 18 to drive the piston 17 to move in the opposite direction. At this time, the air sucked into the first sleeve 8 is transported back into the suction cup 5 through the air outlet 15, the second one-way valve 16 and the piston 17, releasing the negative pressure state of the suction cup 5. That is, the suction cup 5 no longer adsorbs the object, thus completing the unloading work.

[0026] Working Principle: During operation, when installing the air outlet 15, the suction cup 5 and rectangular block 21 are pre-fixed. The operator uses a handheld power unit in conjunction with two transmission blocks 28 to rotate two threaded rods 26. This, in turn, causes two internal threaded sleeves 25 to move two circular sliders 23 along the inner walls of two second sleeves 22 until the locking pins 24 retract into the two second sleeves 22. Then, the rectangular block 21 is inserted into the return seat 9. The two threaded rods 26 are then rotated in the opposite direction, causing the two circular sliders 23 to move in the opposite direction along the inner walls of the two second sleeves 22 until both locking pins 24 are inside the rectangular block 21. This completes the installation of the suction cup 5. The operation is simple, saves time, and facilitates the installation or replacement of the suction cup 5. Therefore, in later use, when processing materials of different specifications, only the suction cup 5 needs to be replaced, without replacing the entire robotic arm, thus improving the flexibility of the equipment. This significantly reduces usage costs. During use, the suction cup 5 is moved to the surface of the object through the combined action of the main body 1, the first robotic arm 2, the second robotic arm 3, and the mounting base 4. When suctioning, the hydraulic push rod 6, in conjunction with the connecting rod 18, drives the piston 17 to move along the inner wall of the first sleeve 8. At this time, the air inside the suction cup 5 is drawn into the first sleeve 8 through the air inlet 13, the first one-way valve 14, and the air inlet pipe 30. At this time, the suction cup 5 is in a negative pressure state, which can firmly adhere the object to the surface of the suction cup 5. When the object moves to the designated position, the hydraulic push rod 6, in conjunction with the connecting rod 18, drives the piston 17 to move in the opposite direction. At this time, the air drawn into the first sleeve 8 is reintroduced into the suction cup 5 through the air outlet 15, the second one-way valve 16, and the piston 17, releasing the negative pressure state of the suction cup 5. That is, the suction cup 5 no longer adheres to the object, thus completing the unloading work. The operation is simple and improves the gripping ability of the robotic arm.

[0027] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A vertical robotic arm with adsorption function, comprising a robotic arm body (1), characterized in that, The main body (1) of the robotic arm is equipped with a first robotic arm (2) on top. A second robotic arm (3) is installed at one end of the first robotic arm (2). A mounting base (4) is installed at one end of the second robotic arm (3). A base (20) is fixed at the bottom of the mounting base (4). A U-shaped seat (9) is fixed at the bottom of the base (20). A suction cup (5) is provided at the bottom of the first robotic arm (2). A rectangular block (21) is fixed at the top of the suction cup (5). A through hole (19) is opened on the side wall of the rectangular block (21). The U-shaped seat (9) is provided with two symmetrical outer side walls for locking. The rectangular block (21) has a snap-fit ​​mechanism. The mounting base (4) has two support plates (7) symmetrically arranged on its top. The inner walls of the two support plates (7) are rotatably connected to the same annular sleeve (12). The inner wall of the annular sleeve (12) is fitted with a first sleeve (8). The inner wall of the first sleeve (8) is slidably connected to a piston (17). One end of the piston (17) is fixed with a connecting rod (18), and one end of the connecting rod (18) passes through the outer wall of one end of the first sleeve (8). The side wall of the second mechanical arm (3) is provided with a moving mechanism for moving the piston (17).

2. The vertical robotic arm with adsorption function according to claim 1, characterized in that, The locking mechanism includes a second sleeve (22), which is disposed through the outer wall of one end of the spiral seat (9). A circular slider (23) is slidably connected to the inner wall of the second sleeve (22). A locking post (24) is fixed to one end of the circular slider (23), and one end of the locking post (24) is disposed through the outer wall of one end of the second sleeve (22). A threaded rod (26) is rotatably connected to the other end of the circular slider (23), and one end of the threaded rod (26) is disposed through the outer wall of the other end of the second sleeve (22). A spring (27) is disposed inside the second sleeve (22), and the spring (27) is sleeved on the side wall of the threaded rod (26).

3. A vertical robotic arm with adsorption function according to claim 2, characterized in that, The other side wall of the second sleeve (22) is fixed with an internal threaded sleeve (25), and the internal threaded sleeve (25) and the threaded rod (26) are adapted to each other. One end of the threaded rod (26) is fixed with a transmission block (28).

4. A vertical robotic arm with adsorption function according to claim 1, characterized in that, The moving mechanism includes a hydraulic push rod (6), which is mounted on the side wall of the second robotic arm (3). A connecting block (11) is fixed to the bottom end of the hydraulic push rod (6). A U-shaped plate (10) is fixed to the side wall of the second robotic arm (3), and the U-shaped plate (10) and the connecting block (11) are rotatably connected. The output end of the hydraulic push rod (6) is rotatably connected to one end of the connecting rod (18).

5. A vertical robotic arm with adsorption function according to claim 1, characterized in that, An air inlet (13) is provided through the outer wall of one end of the first sleeve (8), and a first one-way valve (14) is installed on the outer wall of the air inlet (13). An air inlet pipe (30) is provided through the outer wall of one end of the suction cup (5), and the air inlet pipe (30) and the air inlet (13) are connected.

6. A vertical robotic arm with adsorption function according to claim 1, characterized in that, An air outlet (15) is provided through the outer wall of one end of the first sleeve (8). A second one-way valve (16) is installed on the outer wall of the air outlet (15). An air outlet pipe (29) is provided through the outer wall of one end of the suction cup (5), and the air outlet pipe (29) and the air outlet (15) are connected.

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