Adsorption mechanism and mechanical arm

Abstract

The utility model belongs to workpiece handling technical field discloses a kind of suction mechanism and mechanical arm.Suction mechanism includes support assembly, suction assembly, driving part and elastic piece, support assembly includes support plate, and support plate extends along first direction;Suction assembly includes suction nozzle, and suction nozzle is slidably arranged on support plate along first direction, and multiple suction nozzles are arranged at intervals, to adsorb multiple points of single workpiece or simultaneously adsorb multiple workpieces;Driving part is located in support plate, and driving part includes driving shaft, and driving shaft is connected with suction nozzle, to drive suction nozzle to slide along first direction;Elastic piece one end is connected to driving shaft, and other end is connected to suction nozzle, to buffer the abutting force of suction nozzle and workpiece.By setting elastic piece between driving shaft and suction nozzle, elastic piece can produce contraction under stress, make suction nozzle and workpiece float abut, reduce the probability that suction nozzle injures or scratches workpiece surface;By setting multiple suction nozzles at intervals, multiple points of workpiece can be adsorbed, improve the stability of adsorbing workpiece.

Description

Technical Field

[0001] This utility model relates to the field of workpiece handling technology, and in particular to an adsorption mechanism and a robotic arm. Background Technology

[0002] In the field of industrial automation, robotic arms, thanks to their unique structural design, can achieve multi-axis rotational motion. Through the coordinated linkage of each axis, the robotic arm can drive the working end to translate in various directions in space. This multi-dimensional motion capability enables it to flexibly adapt to complex work scenarios, providing a solid foundation for precise control and diversified task execution.

[0003] However, current robotic arms designed for adsorbing workpieces still have significant limitations in practical applications. Limited by their coarse-grained design with only a short displacement, these arms lack precise adjustment capabilities when moving the adsorbed component. Displacement accuracy is generally low, making it difficult for the adsorbed component to dynamically adjust its speed and force based on real-time distance as it approaches the workpiece. This makes it highly susceptible to damage to the workpiece surface due to excessive movement or uncontrolled impact, especially when handling high-precision or fragile workpieces. Furthermore, most existing robotic arms use a fixed model where a single adsorbed component holds the workpiece at its geometric center. For workpieces with offset centers of gravity or asymmetrical structures, a stable force balance cannot be achieved, leading to the risk of workpiece swaying and tipping during handling, affecting the safety and reliability of the process. Utility Model Content

[0004] The purpose of this invention is to provide an adsorption mechanism and a robotic arm to solve the problems in the prior art where robotic arms lack precise adjustment capabilities when moving adsorption components, which can easily damage workpieces; and where most robotic arms use a fixed mode where a single adsorption component adsorbs the geometric center of the workpiece, which cannot form a stable force balance for workpieces with offset centers of gravity or asymmetrical structures, resulting in the risk of workpiece shaking and flipping during handling, affecting the safety and reliability of handling.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] On the one hand, an adsorption mechanism is disclosed, comprising:

[0007] A support assembly, the support assembly including a support plate extending along a first direction;

[0008] An adsorption assembly includes a suction nozzle, which is slidably disposed on the support plate along a first direction. Multiple suction nozzles are spaced apart to adsorb multiple points of a single workpiece or to adsorb multiple workpieces simultaneously.

[0009] A driving component is disposed on the support plate. The driving component includes a driving shaft connected to the suction nozzle to drive the suction nozzle to slide along the first direction.

[0010] An elastic element, one end of which is connected to the drive shaft and the other end of which is connected to the suction nozzle, to buffer the contact force between the suction nozzle and the workpiece.

[0011] As an optional technical solution for the adsorption mechanism, the adsorption assembly further includes a connecting plate, which includes a first connecting part and a second connecting part. The first connecting part and the second connecting part are perpendicular to each other. The first connecting part is slidably connected to the support assembly, and the suction nozzle is fixed to the side of the second connecting part away from the first connecting part.

[0012] As an optional technical solution for the adsorption mechanism, the adsorption assembly further includes a connecting block and a vacuum component. The connecting block is hollow inside and fixed to the side of the second connecting part away from the first connecting part. All the suction nozzles are in communication with the connecting block. The vacuum component is located on the connecting block and is in communication with the connecting block.

[0013] As an optional technical solution for the adsorption mechanism, the support component includes a guide member, and the adsorption component further includes a mating member. The guide member extends along the first direction, and the mating member is disposed on the side of the first connecting portion opposite to the second connecting portion and cooperates with the guide member.

[0014] As an optional technical solution for the adsorption mechanism, the guide is configured as a slide rail and the mating part is configured as a slider.

[0015] As an optional technical solution for the adsorption mechanism, the support component further includes a limiting member, which is disposed at at least one end of the guide member to restrict the mating member from disengaging from the guide member.

[0016] As an optional technical solution for the adsorption mechanism, the elastic element is configured as a spring, with one end of the spring connected to the end face of the first connecting part and the other end connected to the end of the drive shaft.

[0017] As an optional technical solution for the adsorption mechanism, the nozzle is made of PEEK material.

[0018] As an optional technical solution for the adsorption mechanism, the support plate has multiple weight-reduction holes.

[0019] On the other hand, a robotic arm is provided, including the adsorption mechanism as described above. The adsorption mechanism is a plurality of such mechanisms and is spaced apart at the working end of the robotic arm. The robotic arm can drive the adsorption mechanism to move in any direction.

[0020] The beneficial effects of this utility model are:

[0021] This application discloses an adsorption mechanism and a robotic arm. The adsorption mechanism includes a support assembly, an adsorption assembly, a driving component, and an elastic component. The support assembly includes a support plate extending along a first direction. The adsorption assembly includes a suction nozzle slidably disposed on the support plate in a vertical direction. Multiple suction nozzles are spaced apart to adsorb multiple points on the workpiece. The driving component is disposed on the support plate and includes a drive shaft connected to the suction nozzle to drive the suction nozzle to slide along the first direction. One end of the elastic component is connected to the drive shaft, and the other end is connected to the suction nozzle to buffer the contact force between the suction nozzle and the workpiece. By providing an elastic component between the drive shaft and the suction nozzle, the elastic component can contract under force, allowing the suction nozzle to float and contact the workpiece, reducing the probability of the suction nozzle damaging or scratching the workpiece surface. By spaced apart multiple suction nozzles, multiple points on the workpiece can be adsorbed, improving the stability of the adsorption. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the adsorption mechanism provided in an embodiment of the present invention;

[0024] Figure 2 This is a partial structural schematic diagram of the adsorption mechanism provided in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the robotic arm provided in an embodiment of this utility model.

[0026] In the picture:

[0027] 1. Robotic arm; 2. Connecting rod;

[0028] 10. Support component; 11. Guide component; 12. Limiting component; 13. Support plate; 131. Weight reduction hole;

[0029] 20. Adsorption assembly; 21. Suction nozzle; 22. Connecting plate; 221. First connecting part; 222. Second connecting part; 23. Connecting block; 24. Vacuum component; 25. Mating component;

[0030] 30. Driving component; 31. Drive shaft;

[0031] 40. Elastic components. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0033] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between 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.

[0034] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0036] In existing technologies, robotic arms for adsorbing workpieces are limited by a coarse design with only a short displacement process. This results in a lack of fine-tuning capabilities when moving the adsorbed component, leading to generally low displacement accuracy. Consequently, the adsorbed component struggles to dynamically adjust its speed and force based on real-time distance as it approaches the workpiece, making it highly susceptible to damage such as crushing or scratching the workpiece surface due to excessive movement or uncontrolled impact. This problem is particularly pronounced when handling high-precision or fragile workpieces. Furthermore, most existing robotic arms use a fixed model where a single adsorbed component holds the workpiece at its geometric center. For workpieces with offset centers of gravity or asymmetrical structures, a stable force balance cannot be achieved, leading to the risk of workpiece swaying or tipping during handling, thus affecting the safety and reliability of the process.

[0037] To solve the above problems, please refer to Figure 3 This embodiment provides a robotic arm 1, which includes an adsorption mechanism. The adsorption mechanism is a plurality of such mechanisms and is spaced apart at the working end of the robotic arm 1. The robotic arm 1 can drive the adsorption mechanism to move in any direction.

[0038] Specifically, the end of the robotic arm 1 is provided with a drive motor and a connecting rod 2. The connecting rod 2 extends along the first direction and one end is connected to the drive motor, and the other end is connected to the adsorption mechanism to drive the adsorption mechanism to move along the first direction.

[0039] In one embodiment, the spacing between the multiple adsorption mechanisms is fixed, and the robotic arm 1 uses its own displacement to allow the multiple adsorption mechanisms to adsorb workpieces one by one. In another embodiment, the spacing between the multiple adsorption mechanisms is adjustable, allowing the multiple adsorption mechanisms to adsorb multiple workpieces simultaneously. Specifically, the adjustable spacing can be achieved through slider-rail cooperation, lead screw and nut, etc., which will not be elaborated here. Specifically, the power source for adjusting the spacing can be a motor, cylinder, or manual operation, which will not be elaborated here either.

[0040] Among them, see Figure 1 and Figure 2 The adsorption mechanism includes a support component 10, an adsorption component 20, a driving component 30, and an elastic component 40. Specifically, the support component 10 includes a support plate 13, which extends along a first direction. In this embodiment, the support plate 13 has multiple weight-reducing holes 131 to reduce its own weight, thereby reducing the force on the processing end of the robotic arm 1 and increasing the stability of the robotic arm 1's operation and movement.

[0041] It should be noted that in this embodiment, the first direction is the vertical direction. In other embodiments, the first direction can be a direction with other angles.

[0042] Specifically, the adsorption assembly 20 includes suction nozzles 21, which are slidably disposed on the support plate 13 along a first direction. Multiple suction nozzles 21 are spaced apart to adsorb multiple points on a single workpiece or to adsorb multiple workpieces simultaneously. Specifically, when the workpiece is large and has an asymmetrical structure, multiple suction nozzles 21 can adsorb multiple points on a single workpiece, increasing the safety and reliability of workpiece handling; when the workpiece is small and has a symmetrical structure, multiple suction nozzles 21 can adsorb multiple workpieces simultaneously, improving the efficiency of workpiece handling.

[0043] In this embodiment, the nozzle 21 is made of PEEK material. PEEK (polyetheretherketone) is a high-performance thermoplastic engineering plastic, belonging to aromatic semi-crystalline polymers. Its molecular structure is composed of alternating benzene rings, ether bonds, and ketone groups. Its Shore D hardness is approximately 80HB-85HB, which is much lower than that of metal materials such as aluminum alloys and steel. When the nozzle 21 comes into contact with the surface of the workpiece, it will undergo slight elastic deformation to form a flexible buffer layer, which can effectively disperse the contact stress and avoid scratches on the workpiece surface due to excessive local pressure.

[0044] Specifically, the driving component 30 is disposed on the support plate 13. The driving component 30 includes a drive shaft 31, which is connected to the suction nozzle 21 to drive the suction nozzle 21 to slide along a first direction. In this embodiment, the driving component 30 can be configured as a motor, a cylinder, or a hydraulic cylinder, etc. Since the driving component 30 is prior art, it will not be described in detail here.

[0045] Specifically, the adsorption assembly 20 further includes a connecting plate 22, which includes a first connecting portion 221 and a second connecting portion 222. The first connecting portion 221 and the second connecting portion 222 are perpendicular to each other. The first connecting portion 221 is slidably connected to the support assembly 10, and the suction nozzle 21 is fixed to the side of the second connecting portion 222 opposite to the first connecting portion 221. The adsorption assembly 20 also includes a connecting block 23 and a vacuum component 24. The connecting block 23 is hollow inside and fixed to the side of the second connecting portion 222 opposite to the first connecting portion 221. All suction nozzles 21 are in communication with the connecting block 23. The vacuum component 24 is located on the connecting block 23 and is in communication with the connecting block 23. Specifically, the vacuum component 24 is a vacuum pump. It should be noted that the vacuum pump is prior art and will not be described in detail here.

[0046] In this embodiment, three suction nozzles 21 are provided, all with the same diameter at the contact portion with the workpiece. Each suction nozzle 21 has an inner end with a vent hole that communicates with the vacuum component 24. One suction nozzle 21 has a vent hole consisting of four small holes of the same diameter, each 0.6 mm in diameter, to further increase the number of adsorption points. The other two suction nozzles 21 have a single vent hole with a diameter of 1.2 mm. It should be noted that the size of the three suction nozzles 21 can be adjusted adaptively according to the adsorption positions of the three nozzles 21 and the shape and weight of the workpiece.

[0047] Furthermore, the support assembly 10 includes a guide member 11, and the adsorption assembly 20 further includes a mating member 25. The guide member 11 extends along a first direction, and the mating member 25 is disposed on the side of the first connecting portion 221 opposite to the second connecting portion 222 and engages with the guide member 11. In this embodiment, the guide member 11 is configured as a slide rail, and the mating member 25 is configured as a slider. In other embodiments, the guide member 11 may be configured as a groove, and the mating member 25 may be configured as a pulley.

[0048] Furthermore, the support assembly 10 also includes a limiting member 12, which is disposed at at least one end of the guide member 11 to prevent the mating member 25 from disengaging from the guide member 11. Specifically, the limiting member 12 is configured as a limiting plate. When the first direction is vertical, only a limiting plate needs to be provided at the bottom of the guide member 11 to abut against the mating member 25. When the first direction is at other angles, two limiting plates should be provided and located at both ends of the guide member 11. In other embodiments, the limiting member 12 can also be configured as a limiting rod or a limiting block, which will not be described in detail here.

[0049] Specifically, one end of the elastic element 40 is connected to the drive shaft 31, and the other end is connected to the suction nozzle 21 to buffer the contact force between the suction nozzle 21 and the workpiece. In this embodiment, the elastic element 40 is set as a spring, with one end connected to the end face of the first connecting part 221 and the other end connected to the end of the drive shaft 31. The two ends of the spring are welded or glued to the first connecting part 221 and the suction nozzle 21. In other embodiments, the elastic element 40 can be set as a rubber column or rubber ball, etc. By setting the elastic element 40 between the drive shaft 31 and the suction nozzle 21, the elastic element 40 can contract under force, allowing the suction nozzle 21 to float and contact the workpiece, reducing the probability of the suction nozzle 21 crushing or scratching the surface of the workpiece; by setting multiple suction nozzles 21 at intervals, multiple points of the workpiece can be adsorbed, improving the stability of adsorbing the workpiece.

[0050] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An adsorption mechanism characterized by, The application relates to a support assembly (10) comprising a support plate (13) extending along a first direction; an adsorption assembly (20) comprising a plurality of suction nozzles (21) arranged on the support plate (13) and spaced apart from each other to adsorb a plurality of points of a single workpiece or a plurality of workpieces simultaneously; a driving member (30) arranged on the support plate (13) and comprising a driving shaft (31) connected to the suction nozzles (21) to drive the suction nozzles (21) to slide along the first direction; and an elastic member (40) having one end connected to the driving shaft (31) and the other end connected to the suction nozzles (21) to buffer the abutting force between the suction nozzles (21) and the workpiece. The adsorption assembly (20) further comprises a connecting plate (22) comprising a first connecting portion (221) and a second connecting portion (222), the first connecting portion (221) and the second connecting portion (222) are perpendicular to each other, the first connecting portion (221) is slidingly connected to the support assembly (10), and the suction nozzles (21) are fixed to the side of the second connecting portion (222) away from the first connecting portion (221). The adsorption assembly (20) further comprises a connecting block (23) and a vacuum member (24), the connecting block (23) is hollow and fixed to the side of the second connecting portion (222) away from the first connecting portion (221), all the suction nozzles (21) are in communication with the connecting block (23), and the vacuum member (24) is arranged in the connecting block (23) and in communication with the connecting block (23). The support assembly (10) comprises a guide member (11), and the adsorption assembly (20) further comprises a matching member (25), the guide member (11) extends along the first direction, and the matching member (25) is arranged on the side of the first connecting portion (221) away from the second connecting portion (222) and matches the guide member (11). The guide member (11) is arranged as a sliding rail, and the matching member (25) is arranged as a sliding block.

2. The suction mechanism according to claim 1, wherein The support assembly (10) further comprises a limiting member (12) arranged at least one end of the guide member (11) to limit the matching member (25) from being separated from the guide member (11).

3. The suction mechanism according to claim 2, wherein The elastic member (40) is arranged as a spring, one end of the spring is connected to the end face of the first connecting portion (221), and the other end of the spring is connected to the end portion of the driving shaft (31).

4. The suction mechanism according to claim 2, wherein The suction nozzles (21) are made of PEEK material.

5. The suction mechanism according to claim 4, wherein The support plate (13) is provided with a plurality of lightening holes (131).

6. The suction mechanism according to claim 4, wherein The application further discloses a mechanical arm comprising a plurality of the adsorption mechanisms as claimed in any one of claims 1-9 and arranged on the working end of the mechanical arm, and the mechanical arm can drive the adsorption mechanisms to move along any direction.

7. The suction mechanism according to any one of claims 2 to 6, wherein ​ 8. The suction mechanism according to any one of claims 2 to 6, wherein ​ 9. The suction mechanism according to any one of claims 2 to 6, wherein ​ 10. A robot arm, characterized in that, ​

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