Angle-adjustable special-shaped part taking manipulator

Abstract

The utility model relates to the field of sucking disc, disclose angle adjustable special-shaped part fetches mechanical hand, including drive part, adjustable sucking disc frame, angle adjusting part and sucking disc subassembly, adjustable sucking disc frame installs on the drive part, and sucking disc subassembly is slidably installed on adjustable sucking disc frame through angle adjusting part, and angle adjusting part includes rotatable first adjusting block and second adjusting block, and first adjusting block is slidably installed on adjustable sucking disc frame, and adjustable sucking disc frame is equipped with the positioning part for positioning first adjusting block, first adjusting block is rotatably connected with sucking disc subassembly through second adjusting block, and second adjusting block includes thin wall section and thick wall section, and thin wall section is rotatably connected with first adjusting block, and thick wall section is connected with sucking disc subassembly, sucking disc subassembly includes buffer and sucking disc, and buffer one end links with sucking disc, and other end links with thick wall section. The utility model sucking disc's rotation point sets up between first adjusting block and second adjusting block, and buffer links with sucking disc directly, and increases the buffering effect.

Description

Technical Field

[0001] This utility model relates to the field of suction cups, specifically to a robotic arm for picking up irregularly shaped parts with an adjustable angle. Background Technology

[0002] In the field of automated production and assembly, robotic arms are widely used for workpiece gripping, handling, and positioning. For workpieces with regular shapes (such as planes or standard geometric shapes), traditional robotic arms can achieve stable gripping by using suction cups or grippers at fixed angles. However, for irregularly shaped parts (such as curved surfaces, inclined surfaces, or irregular structures), due to their variable surface angles, fixed-angle gripping devices often struggle to achieve reliable adsorption, easily leading to workpiece detachment or positioning deviations due to poor contact, thus affecting production efficiency and product quality.

[0003] To address the aforementioned issues, Chinese utility model patent CN218988077U provides a vacuum suction cup with adjustable position and angle, comprising: a fixed angle seat, a floating connecting rod, a suction cup fixing seat, and a suction cup. The floating connecting rod is axially movable and mounted on the fixed angle seat, the suction cup fixing seat is rotatably mounted on the floating connecting rod, and the suction cup is mounted on the suction cup fixing seat. The axial movement of the floating connecting rod adjusts the position of the suction cup fixing seat and the suction cup. By rotating the suction cup fixing seat, the angle of the suction cup's adsorption surface can be adjusted, giving the suction cup fine-tunability, stronger adaptability to adsorption curved surfaces, and improved operating efficiency.

[0004] While the aforementioned prior art can adjust the angle of the suction cup, it still has the following drawbacks: In the prior art, the connection point between the suction cup and the floating linkage is on the fixed base. When the suction cup needs to be rotated to adjust its angle, the floating linkage and the suction cup fixed base are not on the same straight line, and the angle between them is less than 180°. At this time, when the suction cup contacts and grips the workpiece, the spring's buffering effect is not good, which can easily cause the suction cup to collide hard with the workpiece during gripping, resulting in scratches on the surface of the irregularly shaped part or damage to the suction cup. Furthermore, the suction cup is connected to the floating linkage through the suction cup fixed base, and the floating linkage is rotatably connected to the suction cup fixed base, which occupies a large space area. Utility Model Content

[0005] The present invention aims to provide an angle-adjustable robotic arm for picking up irregularly shaped parts, so as to solve the problem that the poor buffering effect of the suction cup in the prior art leads to scratches on the surface of irregularly shaped parts or damage to the suction cup.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An angle-adjustable manipulator for handling irregularly shaped parts includes a drive unit, an adjustable suction cup frame, an angle adjustment component, and a suction cup assembly. The adjustable suction cup frame is mounted on the drive unit, and the suction cup assembly is slidably mounted on the adjustable suction cup frame via the angle adjustment component. The angle adjustment component comprises a first adjustment block and a second adjustment block rotatably connected. The first adjustment block is slidably mounted on the adjustable suction cup frame, which has a positioning component for positioning the first adjustment block. The first adjustment block is rotatably connected to the suction cup assembly via the second adjustment block. The second adjustment block comprises an integrally formed thin-walled section and a thick-walled section. The thin-walled section is rotatably connected to the first adjustment block, and the thick-walled section is connected to the suction cup assembly. The suction cup assembly includes a buffer component and a suction cup. One end of the buffer component is connected to the suction cup, and the other end is connected to the thick-walled section. The buffer component is used to buffer the impact force when the suction cup grasps the irregularly shaped part.

[0008] Beneficial effects:

[0009] 1. By setting the rotation point of the suction cup between the first and second adjusting blocks, and directly connecting the buffer to the suction cup, the buffer effectively absorbs the impact force when the suction cup contacts the workpiece, increasing the cushioning effect and preventing scratches on the surface of irregularly shaped parts or damage to the suction cup caused by hard collisions. This also reduces vibration transmission during robot movement, improving the stability and lifespan of the overall structure. Simultaneously, the adjustable suction cup frame can install multiple independently adjustable suction cup components. By adjusting the angle and position of each suction cup, multi-point adsorption can be achieved, making it suitable for large, irregularly shaped workpieces.

[0010] 2. The thick-walled section is connected to the suction cup via a buffer, which can maintain the rigidity of the angle adjustment and absorb the impact during contact to prevent workpiece damage. The second adjustment block is divided into a thin-walled section and a thick-walled section to avoid the thick-walled section with the buffer being directly connected to the first adjustment block. This would increase the rotation space when the first adjustment block and the thick-walled section rotate relative to each other, thereby reducing the range of angle adjustment within a certain machine tool space.

[0011] 3. By rotating the first and second adjusting blocks relative to each other, the angle of the suction cup can be finely adjusted, enabling the suction cup to adapt to workpieces with different curved surfaces, inclined surfaces or complex shapes, ensuring that the suction cup fits tightly against the surface of the irregularly shaped workpiece, improving adsorption stability and airtightness, reducing the risk of air leakage, and improving gripping stability.

[0012] Preferably, as an improvement, the adjustable suction cup holder includes a first steel groove and a second steel groove that are staggered vertically, the first steel groove and the second steel groove are slidably connected, and the positioning element is provided at the sliding connection between the first steel groove and the second steel groove; the suction cup assembly is located on the second steel groove.

[0013] Beneficial effects: The first and second steel channels are slidably connected, allowing them to move relative to each other. This enables operators to freely adjust the position of the second steel channel relative to the first steel channel according to the actual surface gripping requirements of irregularly shaped parts, accommodating irregular surfaces of different sizes or shapes. The positioning element at the sliding connection can reliably lock the first or second steel channel in its relative position, ensuring that the suction cup assembly will not slide or shift unexpectedly during use, thus ensuring the stability and reliability of the suction. Compared to a fixed-size suction cup frame, the design of the first and second steel channels simplifies the installation process.

[0014] Preferably, as an improvement, it also includes a connector, wherein the first adjusting block is slidably connected to the second steel groove via the connector to adjust the position and / or angle of the suction cup along the length direction of the second steel groove.

[0015] Beneficial effects: By setting up the connector, the operator can independently and precisely adjust the specific position of the suction cup on the "track" of the second steel channel without changing the relative position of the first and second steel channels (i.e. the overall frame size), so that the suction cup frame can perfectly adapt to extremely complex and irregular irregular parts.

[0016] Preferably, as an improvement, there are at least two second steel channels, and the two second steel channels are distributed along the length direction of the first steel channel; the number of angle adjustment components, connecting components and suction cup assemblies are all multiple, and they are distributed along the length direction of the second steel channels.

[0017] Beneficial effects: By adjusting the relative sliding distance between the two steel channels, the suction cup can be controlled at any position in the horizontal plane, which solves the limitation of traditional suction cup frames that can only be fixed in position or adjusted on a single axis, and adapts to the irregular adsorption distribution of irregularly shaped parts.

[0018] Preferably, as an improvement, an anti-slip pad is provided between the first adjusting block and the thin-walled section.

[0019] Beneficial effects: By designing anti-slip pads, the friction between the first adjusting block and the thin-walled section can be significantly increased. This can effectively prevent the first and second adjusting blocks from becoming loose due to vibration, impact or external force during the operation of the robot, thus avoiding deviation from the preset position and causing errors in the tilt angle of the suction cup, which in turn affects the stability of the suction cup in gripping the workpiece.

[0020] Preferably, as an improvement, the buffer includes a telescopic rod and a compression spring. The compression spring is sleeved on the outer periphery of the telescopic rod. One end of the telescopic rod is slidably connected to the thick-walled section, and the other end of the telescopic rod is connected to the suction cup. The two ends of the compression spring are respectively connected to the end face of the thick-walled section and the bottom of the suction cup.

[0021] Beneficial effects: Through the synergistic action of the telescopic rod and the compression spring, the suction cup achieves efficient buffering and adaptive contact when gripping the workpiece. The compression spring absorbs most of the impact force through elastic deformation at the moment the suction cup contacts the workpiece, avoiding damage to the workpiece caused by hard collision. The telescopic rod guide ensures that there is no sway during the buffering process, avoiding lateral bending failure of the spring.

[0022] Preferably, as an improvement, the suction cup is provided with a suction cup seat, and the other end of the telescopic rod is connected to the bottom of the suction cup through the suction cup seat. An air tube is installed on the suction cup seat, and the suction cup is connected to the air tube.

[0023] Beneficial effects: The suction cup base serves as a connecting base, providing a stable mounting platform for the suction cup; the air tube is directly installed on the suction cup base, and the suction cup is connected to the air tube, allowing the air tube to directly connect to the internal cavity of the suction cup through the internal channel (or direct interface) of the suction cup base, enabling efficient and integrated vacuum adsorption function; the telescopic rod is connected to the suction cup through the suction cup base, so that the operation of the telescopic rod (push / pull) is directly converted into the pressing / releasing action of the suction cup, improving the convenience of use.

[0024] Preferably, as an improvement, it also includes a suction cup generator, with an air tube connected to the suction cup generator, which is used to extract air from the suction cup.

[0025] Beneficial effects: The suction cup generator can actively and efficiently generate and maintain the required vacuum level inside the suction cup, greatly simplifying and accelerating the adsorption / release operation, saving time and effort.

[0026] Preferably, as an improvement, multiple second steel channels are installed crosswise below the first steel channel, and multiple connectors are arranged along the length of the second steel channels and installed below the second steel channels, with positioning elements provided at the intersections.

[0027] Beneficial effects: The second steel channel is installed below the first steel channel, and the connecting parts are installed on the second steel channel, forming a rigid and stable grid-like support platform. It provides ultra-high density and multi-degree-of-freedom adjustment nodes, allowing operators to adjust freely according to their needs and improving adaptability.

[0028] Preferably, as an improvement, the second steel channel is installed above the first steel channel, and multiple connectors are installed on opposite sides of the second steel channel, intersecting with the second steel channel, with the positioning element provided at the intersection.

[0029] Beneficial effects: The second steel channel is installed above the first steel channel, and connectors are symmetrically arranged on both sides of the second steel channel (intersecting with the second steel channel). The structural design of setting positioners at each intersection point forms a natural gravity transfer path of "load on top and support below", which reduces bending moment and stress concentration, and makes the load more efficiently transferred to the base surface, significantly improving the overall load-bearing capacity and stiffness of the structure. Attached Figure Description

[0030] Figure 1 This is a structural schematic diagram of Embodiment 1 of the present utility model.

[0031] Figure 2 This is a schematic diagram of the suction cup angle adjustment component in Embodiment 1 of this utility model.

[0032] Figure 3 This is a schematic diagram of the angle adjustment component and suction cup assembly in Embodiment 1 of this utility model.

[0033] Figure 4 This is a schematic diagram of the suction cup angle adjustment component in Embodiment 2 of this utility model.

[0034] Figure 5 This is a schematic diagram of the suction cup angle adjustment component in Embodiment 3 of this utility model. Detailed Implementation

[0035] The following detailed description illustrates the specific implementation method:

[0036] The reference numerals in the accompanying drawings include: drive unit 1, base 11, Y-axis robotic arm 12, Z-axis robotic arm 13, adjustable suction cup frame 2, first steel channel 21, second steel channel 22, angle adjustment component 3, first adjustment block 31, second adjustment block 32, thick-walled section 321, thin-walled section 322, suction cup assembly 4, buffer component 41, telescopic rod 411, compression spring 412, suction cup 42, connector 5, anti-slip pad 6, suction cup seat 7, air pipe 8, suction cup generator 9.

[0037] Example 1

[0038] like Figures 1-3 As shown, the angle-adjustable irregular-shaped part picking robot includes a drive unit 1, an adjustable suction cup frame 2, an angle adjustment component 3, and a suction cup assembly 4. The adjustable suction cup frame 2 is rotatably connected to the lifting power output end of the drive unit 1, and the suction cup assembly 4 is slidably mounted on the adjustable suction cup frame 2 via the angle adjustment component 3. Specifically, the drive unit 1 adopts an existing XYZ cantilever robot arm or a gantry three-axis truss robot arm, and the robot arm is controlled by a control system, such as... Figure 1As shown, the drive unit 1 includes a base 11, a Y-axis robotic arm 12, and a Z-axis robotic arm 13. A slide block is slidably connected to the base 11 along the X-axis direction, and the Y-axis robotic arm 12 is mounted on the slide block. The bottom of the Y-axis robotic arm 12 is provided with a guide rail, allowing it to slide back and forth along the slide block. The Z-axis robotic arm 13 includes a longitudinal seat and a picking arm slidably connected to the longitudinal seat. The picking arm is driven by any power source such as a telescopic motor, a cylinder, or a hydraulic cylinder. The Y-axis robotic arm 12 can control the suction cup assembly to move back and forth along both the X and Y axes, and the Z-axis robotic arm 13 can control the suction cup assembly to move up and down along the Z-axis.

[0039] like Figure 3 As shown, the angle adjustment component 3 includes a first adjustment block 31 and a second adjustment block 32 that are rotatably connected. The first adjustment block 31 is slidably mounted on the adjustable suction cup frame 2, which is provided with a positioning component (not shown in the figure) for positioning the first adjustment block. The first adjustment block 3 is rotatably connected to the suction cup assembly 4 via the second adjustment block 32. The second adjustment block 32 includes an integrally formed thick-walled section 321 and a thin-walled section 322. The thin-walled section 322 is rotatably connected to the first adjustment block 31, and the thick-walled section 321 is connected to the suction cup assembly 4. When the first adjustment block 31 and the thin-walled section 322 rotate relative to each other, the angle of the suction cup assembly 4 can be adjusted. The suction cup assembly 4 includes a buffer 41 and a suction cup 42. One end of the buffer 41 is connected to the suction cup 42, and the other end is connected to the thick-walled section 321. The buffer 41 is used to buffer the impact force when the suction cup 42 grips irregularly shaped parts. Specifically, the first adjustment block 31 and the thin-walled section 322 are fixed by bolt locking. In other embodiments besides this one, an anti-slip pad 6 is provided between the first adjusting block 31 and the thin-walled section 322.

[0040] Preferably, in order to reduce the space area ratio, the thickness of the thick-walled section 321 is greater than the thickness of the thin-walled section 322, so that the second adjusting block 32 is L-shaped. This avoids the need to increase the space area occupied by the first adjusting block when the thick-walled section 321 with the buffer installed is directly connected to the first adjusting block, which would lead to an increase in the space area ratio of the angle adjusting component.

[0041] like Figure 2 As shown, the adjustable suction cup holder 2 includes a first steel groove 21 and a second steel groove 22 arranged in a staggered manner. The first steel groove 21 and the second steel groove 22 are slidably connected. There are at least two second steel grooves 22, and in this embodiment, two are specifically used. The two second steel grooves 22 are arranged crosswise below the first steel groove 21 and distributed along the length direction of the first steel groove 21 to adjust the relative position of the suction cup 42 along the Y-axis. The aforementioned positioning element is provided at the sliding connection between the first steel groove 21 and the second steel groove 22; specifically, positioning elements are symmetrically arranged in the middle of the top surface of the second steel groove 22. The positioning element is specifically a mounting ear, and a slider is provided on the mounting ear. The slider is slidably connected to the mounting ear. Figure 2The suction cup assembly 4 is installed in the grooves on both the front and rear sides of the first steel groove 21; the suction cup assembly 4 is installed on the second steel groove 22. The first steel groove 21 is rotatably connected to the Z-axis robotic arm 13, wherein the first steel groove 21 is provided with a T-shaped rotating component, which is rotatably connected to the Z-axis robotic arm 13 through a rotating shaft.

[0042] In this embodiment, a connector 5 is also included. A connecting rod is integrally formed on the top of the first adjusting block 31. The connecting rod and the second steel channel 22 are slidably connected through the connector 5. Bolts are provided at the connection point to position the connector 5, so as to adjust the position and / or angle of the suction cup 42 along the length direction of the second steel channel. Specifically, the upper end of the connecting rod passes through a through hole on the connector 5, and bolts are provided on the connector 5 to press and fix the connecting rod against the through hole on the connector 5.

[0043] Preferably, in this embodiment, there are multiple angle adjustment components 3, connecting components 5, and suction cup assemblies 4, which are distributed along the length of the second steel groove. In this embodiment, there are four angle adjustment components 3 and four suction cup assemblies 4, which are installed in pairs on one of the second steel grooves 21 to adjust the relative position of the suction cups 42 along the X-axis. The end of the connecting component 5 is connected to the first adjustment block 31 by bolts, so that the height of a single suction cup 42 along the Z-axis can be adjusted during the loosening and tightening of the bolts, thereby realizing the position of each suction cup in the X, Y, and Z directions.

[0044] Specifically, such as Figure 3 As shown, the buffer 41 includes a telescopic rod 411 and a compression spring 412. The compression spring 412 is sleeved on the outer periphery of the telescopic rod 411. A sliding groove is formed on the thick-walled section 321, and a slider is formed on the telescopic rod 411. The slider is slidably connected in the sliding groove so that the telescopic rod 411 slides in the thick-walled section 321 when the compression spring 412 is compressed. A suction cup seat 7 is provided at the other end of the telescopic rod 411. The suction cup 42 is installed on the suction cup seat 7, and the two ends of the compression spring 412 abut against the end face of the thick-walled section 321 and the suction cup seat 7, respectively. An air pipe 8 is installed on the suction cup seat 7, and the suction cup 42 is connected to the air pipe 8. In order to create a vacuum in the suction cup 42, a suction cup generator 9 is installed on the Z-axis robotic arm 13. The air pipe 8 is connected to the suction cup generator 9, and the suction cup generator 9 is used to extract air from the suction cup 42.

[0045] The operating method of the angle-adjustable irregular part picking robot is as follows: Figure 1As shown, after the irregular part is shaped, the control system inside the robot first controls the Y-axis robot arm 12 to move along the X-axis and the Z-axis robot arm 13 to move along the Z-axis, so that the adjustable suction cup frame 2, the angle adjustment component 3 and the suction cup assembly 4 enter the machine tool. Then, they move along the Y-axis so that the suction cup 42 can contact the surface of the irregular part. At this time, when the suction cup 42 contacts the surface of the irregular part, the compression spring 412 in the buffer component 41 is compressed to absorb most of the impact force of the suction cup 42 gripping the irregular part. Then, the suction cup generator 9 extracts the air in the suction cup 42 so that the suction cup 42 vacuum grips the irregular part. Finally, it returns along the original path to transport the gripped irregular part outside the machine tool and put it down.

[0046] Example 2

[0047] like Figure 4 As shown, the difference between this embodiment and Embodiment 1 is that the number of suction cups and their installation positions are different in this embodiment. The adjustable suction cup frame 2 in this embodiment includes a first steel groove 21 and a second steel groove 22. There is only one second steel groove 22. The second steel groove 22 is installed crosswise above the first steel groove 21. Multiple connectors 5 are installed on opposite sides of the second steel groove 22, intersecting with the second steel groove 22. The aforementioned positioning components are provided at the intersections. There are two suction cups 42. At this time, both suction cup assemblies 4 are installed on the second steel groove 22 through the connectors 5. This type of connection structure can adjust the position of the two suction cups in the Y-axis direction and their relative position in the X-axis direction.

[0048] Example 3

[0049] like Figure 5 As shown, the difference between this embodiment and the previous embodiment lies in the number of adjustable suction cup holders, which leads to a different installation position of the suction cups. In this embodiment, there are two suction cups 42. Therefore, the corresponding number of connected buffer pieces 41, angle adjustment pieces 3, and connecting pieces 5 are also two. In this case, the adjustable suction cup holder 2 only has a first steel groove 21. Specifically, multiple connecting pieces 5 are cross-installed below the first steel groove 21, arranged along the length of the first steel groove 21, and installed above the first steel groove 21. The intersections are fixed together with bolts. This type of connection structure can only adjust the relative position of the two suction cups along the Y-axis.

[0050] The above are merely embodiments of this utility model. Commonly known technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solution of this utility model. These modifications and improvements should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application shall be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. An angle-adjustable robotic arm for picking up irregularly shaped parts, comprising a drive unit, an adjustable suction cup frame, an angle adjustment component, and a suction cup assembly, wherein the adjustable suction cup frame is mounted on the drive unit, and the suction cup assembly is slidably mounted on the adjustable suction cup frame via the angle adjustment component, characterized in that: The angle adjustment component includes a first adjustment block and a second adjustment block that are rotatably connected. The first adjustment block is slidably mounted on an adjustable suction cup holder, and the adjustable suction cup holder is provided with a positioning component for positioning the first adjustment block. The first adjustment block is rotatably connected to the suction cup assembly through the second adjustment block. The second adjustment block includes an integrally formed thin-walled section and a thick-walled section. The thin-walled section is rotatably connected to the first adjustment block, and the thick-walled section is connected to the suction cup assembly. The suction cup assembly includes a buffer and a suction cup. One end of the buffer is connected to the suction cup, and the other end is connected to the thick-walled section. The buffer is used to buffer the impact force when the suction cup grabs irregularly shaped parts.

2. The angle-adjustable irregular-shaped part picking robot according to claim 1, characterized in that: The adjustable suction cup holder includes a first steel groove and a second steel groove that are staggered vertically. The first steel groove and the second steel groove are slidably connected, and the positioning element is provided at the sliding connection between the first steel groove and the second steel groove. The suction cup assembly is located on the second steel groove.

3. The angle-adjustable irregular-shaped part picking robot according to claim 2, characterized in that: It also includes a connector, through which the first adjusting block is slidably connected to the second steel channel to adjust the position and / or angle of the suction cup along the length of the second steel channel.

4. The angle-adjustable irregular-shaped part picking robot according to claim 3, characterized in that: There are at least two second steel channels, and each second steel channel is distributed along the length of the first steel channel; there are multiple angle adjustment components, connecting components and suction cup assemblies, and they are distributed along the length of the second steel channels.

5. The angle-adjustable irregular-shaped part picking robot according to claim 1, characterized in that: An anti-slip pad is provided between the first adjusting block and the thin-walled section.

6. The angle-adjustable irregular-shaped part picking robot according to claim 5, characterized in that: The buffer includes a telescopic rod and a compression spring. The compression spring is sleeved on the outer periphery of the telescopic rod. One end of the telescopic rod is slidably connected to the thick-walled section, and the other end of the telescopic rod is provided with a suction cup seat. The suction cup is installed on the suction cup seat, and the two ends of the compression spring abut against the end face of the thick-walled section and the suction cup seat, respectively.

7. The angle-adjustable irregular-shaped part picking robot according to claim 6, characterized in that: An air tube is installed on the suction cup base, and the suction cup is connected to the air tube.

8. The angle-adjustable irregular part picking robot according to claim 7, characterized in that: It also includes a suction cup generator, with an air tube connected to the suction cup generator, which is used to extract air from the suction cup.

9. The angle-adjustable irregular-shaped part picking robot according to claim 4, characterized in that: The second steel channel is installed above the first steel channel, and multiple connectors are installed on opposite sides of the second steel channel, intersecting with the second steel channel, with positioning components provided at the intersections.

10. The angle-adjustable irregular part picking robot according to claim 4, characterized in that: Multiple connectors are installed crosswise below the first steel channel, and multiple connectors are arranged along the length of the first steel channel and installed above the first steel channel.

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