Matrix handling suction cup and robot

Abstract

The utility model relates to industrial flexible production line technical field discloses a kind of matrix type carrying suction cup and robot, including carrying assembly, carrying assembly is used to carry object, carrying assembly includes suction cup module, connecting plate, servo motor, adjusting plate and fixed plate, the bottom of connecting plate is provided with servo motor, servo motor is connected with adjusting plate, adjusting plate is connected with fixed plate by transmission mode, suction cup module array is arranged at the bottom of fixed plate, rotates by the output end of servo motor, drives adjusting plate to lift and move horizontally, and adjusting precision is adjusted by the accurate control of servo motor, so as to after robot main body is moved to suitable position basically, according to actual use's field environment and the size of object and other factors, subtle adjustment is carried out, to improve the accurate operation of the device, then drive the suction cup module of bottom and object contact, carry by vacuum adsorption.

Description

Technical Field

[0001] This utility model belongs to the field of industrial flexible production line technology, specifically, it relates to a matrix-type handling suction cup and robot. Background Technology

[0002] Vacuum technology has been widely used in workpiece suction, product handling and other applications. A typical vacuum suction device currently includes components such as a vacuum generator and a suction cup. The vacuum generator uses high-speed positive pressure airflow to create a vacuum at the suction port, and the suction cup picks up the object.

[0003] Industrial robot flexible production line integrated scheduling is a complex field that integrates multiple disciplines such as industrial robot technology, automation control, production scheduling theory, artificial intelligence, and operations research. It aims to achieve efficient, flexible, agile, and intelligent production and manufacturing systems; it is one of the core enabling technologies of modern "smart factories" and "Industry 4.0".

[0004] A document with publication number (CN223073462U) discloses a matrix suction cup assembly, including a suction cup cylinder and an adsorption component. One end of the suction cup cylinder is connected to an external vacuum generator to supply negative pressure airflow, and the other end is connected to the adsorption component. At least one adsorption component is fixed to the suction cup cylinder and forms an air passage connection with the suction cup cylinder. The adsorption component is provided with at least two vacuum nozzles, one end of which is connected to the adsorption component, and the other end forms a free end for suction of external materials. A pneumatic component is provided in the airflow channel inside the adsorption component. In summary, by using the pneumatic component in the airflow channel to divert the flow, the negative pressure is evenly distributed among the multiple unclosed vacuum nozzles, making the suction force uniform across the entire adsorption surface. This is not affected by voids in the local structure of the product, making it suitable for products with different structures. It reduces the debugging time for changing suction cup assemblies, significantly improving production efficiency and reducing costs.

[0005] The aforementioned device uses a matrix of suction cups to achieve adsorption of products with different structures without the need for customized suction cups. However, the device does not disclose in detail the adjustment of the adsorption device. In actual use, the position of the device is adjusted only through a simple robotic arm structure. However, the height adjustment accuracy of the robotic arm is limited, which leads to errors in the working position during actual use.

[0006] In view of this, this utility model is hereby proposed. Utility Model Content

[0007] To solve the technical problem of adjusting the working height, the basic concept of the technical solution adopted by this utility model is as follows:

[0008] A matrix-type suction cup includes a transport component for transporting objects. The transport component includes suction cup modules, a connecting plate, a servo motor, an adjusting plate, and a fixed plate. The servo motor is located at the bottom of the connecting plate and is driven by the servo motor to the adjusting plate. The adjusting plate is connected to the fixed plate by transmission. The suction cup module array is located at the bottom of the fixed plate, and each suction cup module is elastically connected to the corresponding position of the fixed plate.

[0009] In a preferred embodiment of this utility model, mounting plates are symmetrically arranged at the bottom of the connecting plate, and each mounting plate is fixedly connected to the connecting plate. The servo motor is fixedly connected to one of the mounting plates, and each mounting plate is provided with a guide groove.

[0010] In a preferred embodiment of this utility model, each of the mounting plates is rotatably connected to a movable block, the other end of which moves within a guide groove, and the output end of the servo motor is fixedly connected to the movable block on one side via a coupling.

[0011] In a preferred embodiment of this utility model, the movable blocks are fixedly connected to corresponding adjustment plates, and the adjustment plates are fixedly connected to each other, with the same support plate fixedly connected to the bottom of each adjustment plate.

[0012] In a preferred embodiment of this utility model, the support plate is provided with brackets at its corners, the support plate is fixedly connected to the brackets, and a fixing plate is fixedly connected to the bottom of the brackets. Multiple sliding rods are slidably connected to the fixing plate, and an assembly plate is fixedly connected to the bottom of the sliding rods.

[0013] In a preferred embodiment of this utility model, a suction cup module is fixedly connected to the bottom of each slide rod, and a spring is sleeved on each slide rod, with the end of each spring fixedly connected to the corresponding fixing plate and assembly plate.

[0014] In a preferred embodiment of the present invention, the support plate is symmetrically provided with rotating shafts, each rotating shaft is rotatably connected to the support plate, and each rotating shaft is fixedly connected with a swing rod, and the swing rods are staggered.

[0015] In a preferred embodiment of this utility model, cylinders are staggered on the support plate, each cylinder is fixedly connected to the support plate, and the output end of each cylinder is rotatably connected to a swing rod through a coupling, and a clamping rod is fixedly connected to the end of each rotating shaft.

[0016] A robot includes a robot body, the output end of which is fixedly connected to a connecting plate via a flange, and the robot body is provided with all of the aforementioned matrix-type transport suction cups.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. This matrix-type transport suction cup and robot uses the output end of a servo motor to rotate, driving the adjustment plate to rise and fall and move laterally. The adjustment accuracy is adjusted through the precise control of the servo motor. After the robot body is roughly moved to the appropriate position, fine adjustments are made according to the actual usage environment and the size of the object, thereby improving the precision operation of the device. Then, the suction cup module at the bottom contacts the object and is transported by vacuum adsorption.

[0019] 2. This matrix-type handling suction cup and robot, the suction cup module drives the assembly plate and slide rod to compress the spring upward, the spring deforms and applies the deformation force to the suction cup module, so that in contact with the object, the suction cup module is not excessively squeezed due to hard contact, which would cause super fatigue deformation, and the continuous application of force would affect the service life of the suction cup module, thus extending the service life of the suction cup module.

[0020] 3. This matrix-type transport suction cup and robot uses a clamping rod that is driven and closed by a cylinder, a swing rod, and a rotating shaft to clamp the edge of an object. This provides additional clamping to the object's edge while the suction cup module is in vacuum adsorption. By employing two fixing methods, the device improves the fixation of the object during transport, preventing it from falling off and posing a hazard to surrounding workers and objects in case of suction cup module malfunction or incomplete adsorption. It also provides an alternative method for restricting transport, enhancing the lifting and transport efficiency of the device.

[0021] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings. Attached Figure Description

[0022] In the attached diagram:

[0023] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0024] Figure 2 This is a schematic diagram of the bottom structure of the connecting plate of this utility model;

[0025] Figure 3 This is a schematic diagram of the structure between the servo motor and the adjustment plate of this utility model;

[0026] Figure 4 This is a schematic diagram of the structure of the clamping rod and support plate of this utility model;

[0027] Figure 5 This is a schematic diagram of the structure on the fixing plate of this utility model.

[0028] In the diagram: 1. Robot body; 11. Suction cup module; 2. Connecting plate; 21. Servo motor; 22. Mounting plate; 23. Guide groove; 24. Movable block; 25. Adjusting plate; 3. Fixing plate; 31. Assembly plate; 32. Spring; 33. Slide bar; 4. Clamping rod; 41. Support plate; 42. Bracket; 43. Cylinder; 44. Swing rod; 45. Rotating shaft. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate this utility model.

[0030] Please see Figure 1-5 A matrix-type suction cup includes a transport assembly for transporting objects. The transport assembly includes suction cup modules 11, a connecting plate 2, a servo motor 21, an adjusting plate 25, and a fixed plate 3. The bottom of the connecting plate 2 is provided with a servo motor 21, which is driven to the adjusting plate 25. The adjusting plate 25 is connected to the fixed plate 3 by transmission. The suction cup modules 11 are arranged in an array at the bottom of the fixed plate 3, and each suction cup module 11 is elastically connected to the corresponding position of the fixed plate 3.

[0031] In use, after the robot body 1 moves the handling component to a suitable position, the output end of the servo motor 21 rotates, driving the adjustment plate 25 to rise and fall and move laterally. The adjustment accuracy is adjusted by the precise control of the servo motor 21. After the robot body 1 has moved to a suitable position, fine adjustments are made according to the actual usage environment and the size of the object, thereby improving the precision operation of the device. Then, the suction cup module 11 at the bottom comes into contact with the object and is transported by vacuum adsorption.

[0032] It is worth noting that the suction cup module 11 includes a sponge lip, a sponge lip adhesive plate, a suction cup mounting frame, and a threaded sealing joint. The sponge lip is annular; the sponge lip adhesive plate is a breathable mesh plate; the suction cup mounting frame has an internally hollow cylindrical structure; the top of the sponge lip is glued to the bottom of the sponge lip adhesive plate, the sponge lip adhesive plate is snapped into the bottom of the suction cup mounting frame, and the threaded sealing joint is snapped into the top of the suction cup mounting frame. The flexible multi-specification material handling suction cup of the above device can increase the compression buffer of the sponge after contact with the product. During the sponge compression process, the pulling force of the inner lip can be reduced. Even when the product being handled comes into contact with the breathable mesh plate under negative pressure, it can offset part of the adsorption pulling force while ensuring the overall adsorption effect, thereby protecting the product surface from damage to the product packaging bag or product surface by negative pressure factors. The suction cup module 11 has been disclosed in the prior art CN202420949800.7, a flexible multi-specification material handling suction cup, and will not be described in detail here.

[0033] The bottom of the connecting plate 2 is symmetrically provided with mounting plates 22, and each mounting plate 22 is fixedly connected to the connecting plate 2. The servo motor 21 is fixedly connected to one of the mounting plates 22. Each mounting plate 22 is provided with a guide groove 23. Each mounting plate 22 is rotatably connected with a movable block 24. The other end of the movable block 24 moves in the guide groove 23. The output end of the servo motor 21 is fixedly connected to the movable block 24 on one side through a coupling. The movable blocks 24 are fixedly connected with corresponding adjustment plates 25, and the adjustment plates 25 are fixedly connected to each other. The bottom of each adjustment plate 25 is fixedly connected with the same support plate 41.

[0034] After the robot body 1 moves the handling component to the top of the object, the servo motor 21, in cooperation with the output end and the coupling, drives the movable block 24 to rotate. The other end of the movable block 24 slides in the guide groove 23, while driving the adjustment plate 25 to move precisely along the shape of the guide groove 23. That is, the adjustment plate 25 moves up and down and laterally, so as to make fine adjustments according to the actual use in different environments and changes in objects. This avoids errors due to the programming control of the robot body 1, and achieves precise contact between the suction cup module 11 and the wall of the object for stable and sufficient adsorption, thereby improving the handling effect.

[0035] The servo motor 21 is a mature existing technology. It achieves precise rotation through program coding, thereby enabling precise adjustment within the device.

[0036] The support plate 41 is provided with brackets 42 at each corner. The support plate 41 is fixedly connected to the brackets 42, and the bottom of the brackets 42 is fixedly connected to a fixing plate 3. Multiple sliding rods 33 are slidably connected on the fixing plate 3, and the bottom of the sliding rods 33 is fixedly connected to an assembly plate 31.

[0037] Each slide bar 33 is fixedly connected to a suction cup module 11 at its bottom, and each slide bar 33 is fitted with a spring 32. The end of each spring 32 is fixedly connected to the corresponding fixing plate 3 and assembly plate 31 respectively.

[0038] As the adjusting plate 25 moves, it drives the support plate 41 and bracket 42 to move. The bracket 42 drives the fixing plate 3 to move. After the fixing plate 3 drives the suction cup module 11 at the bottom to contact the object, the suction cup module 11 drives the assembly plate 31 and the slide rod 33 to compress the spring 32 upward. The spring 32 deforms and applies the deformation force to the suction cup module 11. This avoids the suction cup module 11 being over-compressed due to hard contact with the object, which would cause excessive fatigue deformation. The continuous application of force also affects the service life of the suction cup module 11, thus extending its service life.

[0039] The support plate 41 is symmetrically provided with rotating shafts 45, each rotating shaft 45 is rotatably connected to the support plate 41, and each rotating shaft 45 is fixedly connected with a swing rod 44, and the swing rods 44 are staggered.

[0040] Among them, cylinders 43 are staggered on the support plate 41, each cylinder 43 is fixedly connected to the support plate 41, and the output end of each cylinder 43 is rotatably connected to the swing rod 44 through a coupling. The end of each rotating shaft 45 is fixedly connected to the clamping rod 4.

[0041] As the suction cup module 11 is driven downward, the cylinder 43, through the cooperation of its output end and coupling, pushes the connecting end of the swing rod 44 to move accordingly. This creates a swing under the constraint of the cylinder 43 and the rotating shaft 45. The swing causes the rotating shaft 45 to rotate in the opposite direction. Due to the staggered arrangement of the cylinders 43, the rotation direction of the rotating shaft 45 is opposite, which in turn causes the clamping rods 4 to open and close in opposite directions. After the suction cup module 11 adsorbs the object, the clamping rods 4 close through the transmission of the cylinder 43, the swing rod 44, and the rotating shaft 45, clamping the edge of the object. This provides additional clamping of the object's edge under vacuum adsorption by the suction cup module 11. By using two fixing methods, the fixing effect of the object during transportation is improved, avoiding the risk of falling off and posing a hazard to surrounding construction personnel and objects in the event of a malfunction of the suction cup module 11 or incomplete adsorption. This provides another way to restrict transportation and improves the transportation and lifting effect of the device.

[0042] A robot includes a robot body 1, the output end of the robot body 1 is fixedly connected to a connecting plate 2 via a flange, and the robot body 1 is provided with all of the above-mentioned matrix-type transport suction cups.

[0043] In use, after the robot body 1 moves the handling component to a suitable position, the output end of the servo motor 21 rotates, driving the adjustment plate 25 to rise and fall and move laterally. The adjustment accuracy is adjusted by the precise control of the servo motor 21. After the robot body 1 has moved to a suitable position, fine adjustments are made according to the actual usage environment and the size of the object, thereby improving the precision operation of the device. Then, the suction cup module 11 at the bottom comes into contact with the object and is transported by vacuum adsorption.

[0044] It is understood that this utility model has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this utility model. Furthermore, under the teachings of this utility model, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this utility model.

Claims

1. A matrix-type transport suction cup, characterized in that, include: The transport assembly is used to transport objects. The transport assembly includes a suction cup module (11), a connecting plate (2), a servo motor (21), an adjusting plate (25), and a fixed plate (3). The bottom of the connecting plate (2) is provided with a servo motor (21). The servo motor (21) is connected to the adjusting plate (25) by transmission. The adjusting plate (25) is connected to the fixed plate (3) by transmission. The suction cup module (11) array is set at the bottom of the fixed plate (3), and each suction cup module (11) is elastically connected to the corresponding position of the fixed plate (3).

2. The matrix-type transport suction cup according to claim 1, characterized in that, The bottom of the connecting plate (2) is symmetrically provided with mounting plates (22), and each mounting plate (22) is fixedly connected to the connecting plate (2). The servo motor (21) is fixedly connected to one of the mounting plates (22), and each mounting plate (22) is provided with a guide groove (23).

3. The matrix-type transport suction cup according to claim 2, characterized in that, Each of the mounting plates (22) is rotatably connected to a movable block (24), the other end of which moves within a guide groove (23). The output end of the servo motor (21) is fixedly connected to the movable block (24) on one side via a coupling.

4. The matrix-type transport suction cup according to claim 3, characterized in that, The movable blocks (24) are fixedly connected to corresponding adjustment plates (25), and the adjustment plates (25) are fixedly connected to each other. The bottom of each adjustment plate (25) is fixedly connected to the same support plate (41).

5. The matrix-type transport suction cup according to claim 4, characterized in that, The support plate (41) is provided with brackets (42) at its corners. The support plate (41) is fixedly connected to the brackets (42), and the bottom of the brackets (42) is fixedly connected to a fixing plate (3). Multiple sliding rods (33) are slidably connected on the fixing plate (3), and the bottom of the sliding rods (33) is fixedly connected to an assembly plate (31).

6. The matrix-type transfer suction cup according to claim 5, characterized in that, Each slide bar (33) is fixedly connected to a suction cup module (11) at its bottom, and each slide bar (33) is fitted with a spring (32), the end of each spring (32) being fixedly connected to the corresponding fixing plate (3) and assembly plate (31).

7. The matrix-type transfer suction cup according to claim 4, characterized in that, The support plate (41) is symmetrically provided with rotating shafts (45), each rotating shaft (45) is rotatably connected to the support plate (41), and each rotating shaft (45) is fixedly connected with a swing rod (44), and the swing rods (44) are staggered.

8. The matrix-type transfer suction cup according to claim 7, characterized in that, The support plate (41) is provided with cylinders (43) arranged alternately. Each cylinder (43) is fixedly connected to the support plate (41), and the output end of each cylinder (43) is rotatably connected to the swing rod (44) through a coupling. Each rotating shaft (45) is fixedly connected to the end of a clamping rod (4).

9. A robot, characterized in that, include: The robot body (1) has its output end fixedly connected to the connecting plate (2) via a flange, and the robot body (1) is provided with a matrix-type transport suction cup as described in any one of claims 1-8.

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