Grabbing manipulator with dust suction function

Abstract

The utility model relates to manipulator technical field especially disclose a kind of grabbing manipulator with dust collection function, including control box, dust collector, mechanical arm unit being set on control box and the execution component being set in the end of mechanical arm unit, the control box is electrically connected with mechanical arm unit, dust collector, the execution component has the bearing seat connected in the end of mechanical arm unit, suction disc being set on bearing seat, the suction disc is communicated with dust collector. The utility model is through the manipulator design of integrated dust collection function, realizes synchronous operation of grabbing and cleaning, improves work efficiency and reduces secondary pollution. Control box coordinates mechanical arm and dust collector linkage, ensure stable adsorption;Suction disc is directly communicated with dust collector, applicable to dust sensitive scene. Compact structure, with functionality and practicality, can be widely applied in industrial automation production line, warehousing sorting and other fields.

Description

Technical Field

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

[0002] In traditional industrial production, material handling and cleaning operations are usually performed separately, which reduces work efficiency and increases labor costs. Most existing robotic arms only have a single handling function and cannot simultaneously complete cleaning operations, leading to dust accumulation in the working environment, affecting product quality and equipment lifespan. The coordination between ordinary vacuuming devices and robotic arms suffers from problems such as tubing entanglement and motion interference, limiting the degree of automation. Meanwhile, fixed suction structures are difficult to adapt to handling objects of different shapes and sizes, especially fragile items, which are easily damaged. Visual positioning systems lack sufficient recognition accuracy under complex lighting conditions, affecting handling accuracy. It is difficult to balance equipment mobility and stability; either movement is inconvenient or stability during operation is insufficient. These technical deficiencies restrict the overall efficiency improvement of automated production lines, urgently requiring a new robotic arm solution that integrates intelligent handling, precise positioning, simultaneous cleaning, and flexible movement. Utility Model Content

[0003] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a gripping robot with a dust suction function.

[0004] To achieve the above objectives, the present invention provides a gripping robot with a vacuuming function, comprising a control box, a vacuum cleaner, a robotic arm unit mounted on the control box, and an execution component mounted at the end of the robotic arm unit. The control box is electrically connected to the robotic arm unit and the vacuum cleaner. The execution component has a support base connected to the end of the robotic arm unit and a suction plate mounted on the support base. The suction plate is connected to the vacuum cleaner.

[0005] This design integrates a control box, robotic arm unit, and vacuuming function to achieve simultaneous grasping and cleaning operations, significantly improving work efficiency. The control box centrally manages the collaborative work of the robotic arm and vacuum cleaner, reducing manual intervention. The suction plate of the actuator is directly connected to the vacuum cleaner, allowing for simultaneous adsorption of dust or debris while grasping objects, preventing secondary pollution. The overall structure is compact, suitable for industrial production lines, warehouse sorting, and other scenarios, combining functionality and practicality.

[0006] Furthermore, the suction plate is retractably mounted on the support base, and the support base is provided with a drive assembly for driving the suction plate to extend and retract and electrically connected to the control box.

[0007] The extendable design of the suction cup allows it to adapt to objects of different heights and shapes, enhancing gripping compatibility. The drive assembly automatically adjusts the pressure of the suction cup upon contact with the object, preventing damage caused by rigid contact. This flexible gripping method is particularly suitable for fragile or surface-sensitive items, while the extendable function caters to various working conditions, improving the robot's versatility.

[0008] Furthermore, the driving assembly includes a slide rod that slides through the support seat and a driving spring sleeved on the slide rod. The slide rod is connected to the suction plate, and the driving spring is located between the support seat and the suction plate. A connecting ring is provided at the end of the slide rod away from the suction plate, and the connecting ring is located on the side of the support seat away from the suction plate.

[0009] The combination of the slide bar and drive spring is simple and reliable, enabling stable elastic telescopic movement. The drive spring provides cushioning force, allowing the suction cup to adapt to the shape of the object's surface, ensuring stable adsorption. The connecting ring design facilitates maintenance and component replacement, reducing operating costs. This structure offers high durability and stability, making it suitable for long-term continuous operation.

[0010] Furthermore, the number of slide rods and the number of drive springs are both set to multiple, with one slide rod and one drive spring corresponding to each other. The multiple slide rods are arranged around the central axis of the suction plate, and the slide rods are arranged parallel to the central axis of the suction plate.

[0011] The symmetrical distribution of multiple sliders ensures even force distribution on the suction cup, avoiding the tilting problem caused by single-point force. Each slider works independently, better adapting to uneven object surfaces. This arrangement improves the stability and reliability of the grip, making it particularly suitable for gripping irregularly shaped or uneven surfaces.

[0012] Furthermore, the robotic arm unit has a base mounted on a control box, a support arm rotatably mounted on the base, a driver rotatably mounted on the support arm, and a telescopic shaft telescopically mounted on the driver, the telescopic shaft being connected to a support base.

[0013] The multi-degree-of-freedom robotic arm design provides flexible motion capabilities, enabling movements along complex spatial trajectories. The combined structure of the base, support arm, and actuators is stable and reliable, while the telescopic shaft further extends the working range. This structural design allows the robotic arm to adapt to operational needs at different heights and angles, improving the equipment's versatility.

[0014] Furthermore, the control box is equipped with a vision component, and the control box is electrically connected to the vision component. The vision component has a support frame mounted on the control box, a linear motor module mounted on the support frame, and a camera unit slidably mounted on the linear motor module.

[0015] The addition of vision components enables intelligent recognition and positioning, significantly improving gripping accuracy. The linear motor module allows for flexible movement of the camera unit, facilitating multi-angle shooting and recognition. This design endows the robot with automatic recognition and positioning capabilities, making it particularly suitable for scenarios requiring precise operation, such as automated production lines.

[0016] Furthermore, a fill light plate is detachably provided on the support frame. The fill light plate is located below the camera unit and has a shooting hole corresponding to the camera unit.

[0017] The detachable fill light plate design allows for easy replacement or adjustment under different lighting conditions, ensuring image quality. The image capture aperture design avoids interference from fill light, guaranteeing image clarity. This structure improves the operational stability of the vision system, enabling the robotic arm to maintain stable recognition performance under varying lighting conditions.

[0018] Furthermore, a flexible tube connects the support base and the vacuum cleaner. The support base is equipped with an air intake connector, and the flexible tube is equipped with a movable connector that can rotate relative to the air intake connector at one end near the support base, so that the flexible tube can rotate circumferentially or swing at an angle as the robotic arm unit moves.

[0019] The flexible tubing design with a movable joint avoids tubing tangling, ensuring smooth robotic arm movement. The movable joint structure allows the tubing to rotate freely with the robotic arm without affecting the suction function. This design improves equipment reliability and lifespan while reducing maintenance requirements.

[0020] Furthermore, a U-shaped support is provided between the robotic arm unit and the control box, with the U-shaped opening of the support facing the control box.

[0021] The U-shaped support provides a stable support structure, enhancing the stability of the robotic arm unit. The opening facing the control box facilitates cable management and equipment maintenance. This structure effectively distributes stress during robotic arm movement, extending equipment lifespan while maintaining an aesthetically pleasing appearance.

[0022] Furthermore, the bottom of the control box is provided with multiple cup holders and multiple casters that cooperate with the multiple cup holders.

[0023] The combination of a support cup holder and casters allows for flexible movement and stable parking of the equipment. The casters facilitate movement and adjustment within the work area, while the support cup holder ensures the equipment remains stable and does not slip during operation. This structure improves the equipment's mobility and operational stability, making it suitable for work environments requiring frequent relocation.

[0024] The beneficial effects of this invention are as follows: This robotic arm integrates a control box, robotic arm, and vacuuming function, enabling simultaneous grasping and cleaning operations, improving efficiency and reducing pollution. The extendable suction tray, combined with a multi-slide spring mechanism, adapts to objects of different shapes, ensuring stable grasping without damage. The multi-degree-of-freedom robotic arm, combined with a vision system, achieves precise positioning through a linear motor-driven camera and adjustable supplementary lighting. The flexible vacuuming hose is equipped with a rotary joint to avoid motion interference. The U-shaped support enhances structural stability, and the combination of the bottom casters and the support cup ensures both flexible movement and stable operation. The overall design is intelligent and efficient, suitable for industrial scenarios requiring precision operation, such as automated production lines. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of a gripping robotic arm with a dust-collecting function according to this utility model. Figure 1 ;

[0026] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ;

[0027] Figure 3 for Figure 1 A schematic diagram of the structure of A in the middle.

[0028] The reference numerals in the attached drawings include: 1. Control box; 2. Vacuum cleaner; 3. Robotic arm unit; 4. Actuation component; 5. Support base; 6. Suction tray; 7. Drive component; 8. Slide bar; 9. Drive spring; 11. Connecting ring; 12. Base; 13. Support arm; 14. Driver; 15. Telescopic shaft; 16. Vision component; 17. Support frame; 18. Linear motor module; 19. Camera unit; 21. Fill light plate; 22. Shooting hole; 23. Flexible tube; 24. Suction connector; 25. Movable connector; 26. Support base; 27. Support cup holder; 28. Caster wheel. Detailed Implementation

[0029] To further illustrate the technical means and effects adopted by this utility model in order to achieve the intended utility model purpose, the following detailed description of the specific implementation methods, structure, features and effects of this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.

[0030] Please see Figures 1 to 3 As shown, the present invention discloses a gripping robot with a vacuuming function, comprising a control box 1, a vacuum cleaner 2, a robotic arm unit 3 mounted on the control box 1, and an execution component 4 mounted at the end of the robotic arm unit 3. The control box 1 is electrically connected to the robotic arm unit 3 and the vacuum cleaner 2. The execution component 4 has a support base 5 connected to the end of the robotic arm unit 3 and a suction plate 6 mounted on the support base 5. The suction plate 6 is connected to the vacuum cleaner 2.

[0031] This robotic arm system adopts an integrated control architecture. The control box 1 has a built-in PLC controller, which establishes real-time communication with the robotic arm unit 3 and the vacuum cleaner 2 via an industrial bus protocol (such as EtherCAT). After receiving control commands, the robotic arm unit 3 drives the joints to move via servo motors, moving the end effector 4 to the target position. The suction plate 6 of the end effector 4 is made of polyurethane material and has an internal annular air channel, forming a negative pressure system with the vacuum cleaner 2 through a vacuum generator. When the suction plate 6 contacts the surface of an object, the vacuum cleaner 2 starts to generate negative pressure, causing the object to be firmly adsorbed.

[0032] Control box 1 monitors the pressure sensor data of vacuum cleaner 2 in real time. When the detected negative pressure value reaches the set threshold (usually -60kPa to -80kPa), the gripping is considered successful, and the robotic arm is then controlled to perform the handling operation. The entire system adopts closed-loop control, achieving precise control of position and speed through encoder feedback.

[0033] Specifically, the suction plate 6 is retractably mounted on the support base 5, and the support base 5 is provided with a drive assembly 7 for driving the suction plate 6 to extend and retract and electrically connected to the control box 1.

[0034] The drive assembly 7 uses a linear motion mechanism to achieve the axial displacement of the suction plate 6. Specifically, a precision guide hole is machined within the bearing seat 5, and a linear bearing is installed within the hole. The suction plate 6 is rigidly connected to the output end of the drive assembly 7 via a connecting plate. The drive assembly 7 includes a servo electric cylinder or pneumatic cylinder as a power source, connected to a ball screw via a coupling. When the control system issues a telescopic command, the servo motor drives the ball screw to rotate, causing the nut seat to move linearly, thereby pushing the suction plate 6 to make precise displacement along the guide hole.

[0035] The displacement is fed back in real time by a built-in magnetic scale or photoelectric encoder, with a control accuracy of ±0.05mm. During the gripping operation, the drive component 7 first extends the suction plate 6 to a preset position. After contacting the object, it automatically adjusts the extension amount based on the pressure sensor feedback to ensure uniform distribution of the suction force. The mechanism is also equipped with a mechanical limit device to prevent damage to components due to overtravel.

[0036] Specifically, the driving assembly 7 includes a slide rod 8 that slides through the support seat 5 and a driving spring 9 sleeved on the slide rod 8. The slide rod 8 is connected to the suction plate 6. The driving spring 9 is located between the support seat 5 and the suction plate 6. A connecting ring 11 is provided at the end of the slide rod 8 away from the suction plate 6. The connecting ring 11 is located on the side of the support seat 5 away from the suction plate 6.

[0037] This elastic drive mechanism employs a passive buffer design. The slide bar 8 is made of GCr15 bearing steel with a hard chrome plated surface, achieving a hardness of HRC60 or higher. The guide hole between the slide bar 8 and the bearing seat 5 uses an H7 / g6 clearance fit to ensure smooth sliding. The drive spring 9 is a multi-strand helical spring made of stainless steel, with a pre-compression of 20% of its total length. When the suction plate 6 contacts an object, the object's reaction force further compresses the spring, creating a dynamic balance between the spring force and the suction force. The connecting ring 11 is threaded to the end of the slide bar 8 for easy disassembly and maintenance.

[0038] In actual operation, when the robotic arm moves the suction plate 6 close to the object, it first approaches at a low speed (usually 50-100 mm / s). At the moment of contact, the spring compresses to absorb the impact energy, while the pressure sensor detects the contact force. When the force reaches the set value (usually 5-10 N), the feeding stops. This buffer structure can effectively reduce impact and is especially suitable for gripping fragile items.

[0039] Specifically, the number of slide rods 8 and the number of drive springs 9 are both set to be multiple, with one slide rod 8 and one drive spring 9 corresponding to each other. The multiple slide rods 8 are arranged around the central axis of the suction plate 6, and the slide rods 8 are arranged parallel to the central axis of the suction plate 6.

[0040] A multi-point balance system is constructed using 4-6 sliding rods 8 evenly distributed in a circle (commonly at 60° or 90°). Each sliding rod 8 works independently, providing support through its own spring. In practice, the mounting base for the sliding rod 8 is CNC machined from aluminum alloy to ensure that the concentricity of each mounting hole is within Φ0.02mm.

[0041] During operation, when the suction cup 6 contacts an irregular surface, each slide bar 8 extends and retracts independently according to the contact situation. The height difference is compensated by the deformation of the springs, ensuring that the suction cup 6 always maintains optimal contact with the object surface. This design allows the suction cup 6 to adapt to a plane tilt of ±15° and tolerates surface unevenness of ±5mm. The system monitors the displacement sensor data of each slide bar 8, calculates the plane angle in real time, and adjusts the robotic arm posture as needed to ensure stable gripping. The spring stiffness of each slide bar 8 is precisely matched, with stiffness deviation controlled within ±5%.

[0042] Specifically, the robotic arm unit 3 has a base 12 mounted on the control box 1, a support arm 13 rotatably mounted on the base 12, a driver 14 rotatably mounted on the support arm 13, and a telescopic shaft 15 telescopically mounted on the driver 14. The telescopic shaft 15 is connected to the carrier 5.

[0043] The robotic arm adopts a modular design. The base 12 is mounted on top of the control box 1 via a flange, and an internal RV reducer (speed ratio 1:100) supports the first rotating axis. The support arm 13 adopts an aluminum alloy truss structure with internal wiring, and the second rotating joint is driven by a harmonic reducer. The driver 14 integrates a servo motor and a planetary reducer, and its output end is connected to the telescopic shaft 15 via a spline. The telescopic shaft 15 is a precision-ground chrome-plated steel shaft, which, together with a linear guide, achieves axial movement. Each joint is equipped with a 20-bit absolute encoder, with a repeatability accuracy of ±0.02mm.

[0044] Motion control employs a feedforward compensation algorithm based on a dynamic model, achieving real-time control with a 1ms cycle via an EtherCAT bus. During operation, the control system first calculates the inverse kinematics of the target pose, then plans the S-curve motion trajectories of each joint, while simultaneously performing collision detection. The telescopic shaft 15 utilizes a ball spline structure, transmitting torque and achieving linear motion; its stroke is typically 300-500mm, with a maximum speed of 1m / s.

[0045] Specifically, the control box 1 is provided with a vision component 16, and the control box 1 is electrically connected to the vision component 16. The vision component 16 has a support frame 17 disposed on the control box 1, a linear motor module 18 disposed on the support frame 17, and a camera unit 19 slidably disposed on the linear motor module 18.

[0046] The vision system uses an industrial-grade smart camera (such as the Basler Ace series) with a resolution of 5 megapixels and a frame rate of 30fps. The linear motor module 18 is a coreless U-shaped motor with a repeatability of ±2μm and a maximum speed of 2m / s. The camera unit 19 is mounted on the module via a slide table and can move 500mm along the X-axis.

[0047] The control system communicates with the vision system via the PROFINET protocol. After triggering an image capture, the image undergoes GPU-accelerated processing (processing time <50ms), employing the Halcon algorithm library to implement visual algorithms such as template matching and edge detection. During operation, the module drives the camera to perform scanning capture, achieving high-precision positioning with a wide field of view through multi-frame image stitching. The camera focal length is electrically adjustable (8-50mm zoom lens), enabling autofocus in conjunction with a laser rangefinder. The lighting system uses a ring-shaped LED light source, with brightness adjustable via PWM (0-100% adjustable) to ensure optimal image quality under different ambient light conditions.

[0048] Specifically, the support frame 17 is detachably provided with a fill light plate 21, which is located below the camera unit 19, and the fill light plate 21 is provided with a shooting hole 22 corresponding to the camera unit 19.

[0049] The fill light plate 21 uses a 6061 aluminum alloy frame and has a high diffuse reflectance (>95%) nano-coated diffuser plate mounted on its surface. Two sets of LED light sources are integrated within the plate: one is a 6500K white light source, and the other is a red structured light projector. The shooting aperture 22 is 5mm larger in diameter than the lens, and its inner wall is blackened to prevent reflections. The fill light plate 21 is mounted on the support frame 17 via a quick-release mechanism, allowing for replacement within 30 seconds.

[0050] During operation, the control system selects the light source mode based on the surface characteristics of the object being measured: diffuse illumination is used for highly reflective surfaces, and structured light projection is used for surfaces lacking texture. The light source brightness is adjustable in 8 levels (1000-10000 lux), controlled by a closed-loop light sensor. The tilt angle of the supplementary lighting plate 21 is adjustable (±15°), automatically adjusted via an electric actuator. A specially designed honeycomb light-shielding structure effectively eliminates ambient light interference, ensuring an image contrast ratio of 0.8 or higher.

[0051] Specifically, a flexible tube 23 is connected between the support base 5 and the vacuum cleaner 2. The support base 5 is provided with a suction connector 24. The flexible tube 23 is provided with a movable connector 25 that can rotate relative to the suction connector 24 at one end near the support base 5, so that the flexible tube 23 can rotate circumferentially or swing at an angle with the movement of the robotic arm unit 3.

[0052] Flexible tube 23 is made of polyurethane steel wire reinforced tubing with an inner diameter of Φ20mm and a negative pressure resistance of -100kPa. The movable joint 25 is a stainless steel rotary seal structure, including a precision bearing (ABEC-7 grade) and a PTFE sealing ring, allowing ±180° continuous rotation and ±30° yaw. The internal flow channel of the joint is CFD optimized, with a pressure loss of <3kPa@30m. 3 / h.

[0053] During operation, the movable joint 25 automatically compensates for relative motion when the robotic arm moves, preventing pipeline twisting. Rotating parts employ magnetohydrodynamic sealing technology to ensure vacuum attenuation is <5% over a 10^5 revolutions lifespan. The system is equipped with a vacuum sensor (range -100-0 kPa, accuracy 0.5% FS) to monitor pipeline status in real time. A specially designed universal joint structure allows the pipeline to move freely within the entire working space of the robotic arm without generating additional torque. The joints feature a self-lubricating structure, providing a maintenance-free period of up to 5000 hours. The pipeline system can be assembled and disassembled within 30 seconds via quick-connect couplings, facilitating maintenance.

[0054] Specifically, a U-shaped support 26 is provided between the robotic arm unit 3 and the control box 1, with the U-shaped opening of the support 26 facing the control box 1.

[0055] The U-shaped support base 26 is made of QT500-7 ductile iron, with a structure optimized through finite element analysis, and a natural frequency >150Hz. The support base 26 is connected to the control box 1 via 12 M10 high-strength bolts (preload 45Nm), and to the robotic arm base 12 via locating pins (H7 / k6 fit) and flanges. The internal wiring channel is designed with a waterproof and dustproof structure (IP54 protection rating). Reinforcing ribs are provided on both sides of the support base 26, increasing the overall rigidity by 40%.

[0056] In practical implementation, support base 26 serves as a force transition component, effectively transferring the overturning moment of the robotic arm (maximum 300 Nm) to the control box 1. A cable drag chain system is arranged within the U-shaped opening to protect the power and signal lines. The surface of support base 26 is sandblasted and powder-coated, and has passed a 500-hour salt spray test. A shock-absorbing rubber pad (Shore hardness 70) is installed at the bottom to absorb high-frequency vibrations. The overall structure has been verified through ANSYS simulation, with a safety factor >2.5.

[0057] Specifically, the bottom of the control box 1 is provided with multiple cup holders 27 and multiple casters 28 that cooperate with the multiple cup holders 27.

[0058] The equipment adopts a 4-point support structure, with two Φ80mm nylon bearing cup holders 27 at the front and two 8-inch swivel casters 28 at the rear (500kg / each). The bearing cup holders 27 have built-in cushioning rubber pads with a compression range of 5mm to absorb equipment vibration. The swivel casters 28 adopt a double bearing structure and are equipped with a foot-operated locking device (locking torque 15Nm), with a displacement of <0.1mm after locking.

[0059] During movement, the control box 1 is lifted entirely by a hydraulic lifting mechanism (100mm stroke), raising the support cup 27 off the ground. At this point, the equipment is fully supported by the casters 28, allowing for easy movement. Once in position, the lifting mechanism lowers, bringing the support cup 27 into contact with the ground for stable support. The system is equipped with a level sensor that automatically adjusts the height of each support point to ensure the equipment's levelness is <0.5°. The casters 28 use polyurethane treads with a wear resistance coefficient >0.7, suitable for various surface types. The electrical system uses aviation plugs for quick connection, eliminating the need to disconnect cables during movement.

[0060] The working principle of this invention is as follows: The gripping robot with vacuuming function adopts an integrated mechatronics design. The control box 1 coordinates the collaborative operation of the robotic arm unit 3, the vacuuming system, and the vision component 16. The control box 1 has a built-in PLC controller, achieving 1ms-level real-time control based on the EtherCAT industrial bus. A servo drive system precisely controls the six degrees of freedom of the robotic arm (including base 12 rotation, support arm 13 swing, driver 14 rotation, and telescopic shaft 15 linear motion). The end effector's suction plate 6 uses a multi-slide bar 8 elastic support structure, combined with a pressure sensor to achieve adaptive gripping. The vacuuming system is controlled in a closed loop by a negative pressure sensor (-60kPa to -80kPa). The flexible tube 23 is equipped with a magnetohydrodynamic sealed rotary joint to ensure that the tubes do not become entangled during the full range of motion of the robotic arm. The vision system integrates a 5-megapixel industrial camera and an adjustable supplementary lighting device, achieving target recognition and positioning within 50ms via PROFINET communication, with a positioning accuracy of ±0.1mm.

[0061] During system operation, the vision component 16 first performs a 3D scan and positioning of the target object. After the control box 1 plans the optimal grasping path, the robotic arm drives the suction plate 6 to approach the target at a speed of 50-100 mm / s. At the moment of contact, the multi-set sliding bar 8 spring buffer mechanism automatically compensates for surface unevenness (adapting to ±5 mm height difference), and the vacuum cleaner 2 starts simultaneously to establish negative pressure adsorption. During the handling process, the U-shaped support 26 disperses the dynamic load of the robotic arm, and the bottom hydraulic lifting caster 28 system ensures that the equipment moves flexibly and operates stably. The entire process adopts closed-loop control, and the data from various sensors (including encoders, pressure sensors, vacuum sensors, etc.) are fed back to the control system in real time, achieving a grasping success rate of >99.5%. It is particularly suitable for automated handling and cleaning of fragile materials such as precision electronic components and glass products.

[0062] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A gripping robotic arm with a vacuuming function, characterized in that: The device includes a control box (1), a vacuum cleaner (2), a robotic arm unit (3) mounted on the control box (1), and an execution component (4) mounted at the end of the robotic arm unit (3). The control box (1) is electrically connected to the robotic arm unit (3) and the vacuum cleaner (2). The execution component (4) has a support base (5) connected to the end of the robotic arm unit (3) and a suction plate (6) mounted on the support base (5). The suction plate (6) is connected to the vacuum cleaner (2).

2. The gripping robot with vacuuming function according to claim 1, characterized in that: The suction plate (6) is retractably mounted on the support base (5), and the support base (5) is provided with a drive assembly (7) for driving the suction plate (6) to extend and retract and electrically connected to the control box (1).

3. The gripping robot with a vacuuming function according to claim 2, characterized in that: The drive assembly (7) includes a slide rod (8) that slides through the support seat (5) and a drive spring (9) sleeved on the slide rod (8). The slide rod (8) is connected to the suction plate (6). The drive spring (9) is located between the support seat (5) and the suction plate (6). A connecting ring (11) is provided at the end of the slide rod (8) away from the suction plate (6). The connecting ring (11) is located on the side of the support seat (5) away from the suction plate (6).

4. A gripping robotic arm with a vacuuming function according to claim 3, characterized in that: The number of slide rods (8) and the number of drive springs (9) are both set to be multiple. There is a one-to-one correspondence between the slide rods (8) and the drive springs (9). The multiple slide rods (8) are arranged around the central axis of the suction plate (6) and are parallel to the central axis of the suction plate (6).

5. A gripping robotic arm with a dust-collecting function according to claim 1, characterized in that: The robotic arm unit (3) has a base (12) mounted on the control box (1), a support arm (13) rotatably mounted on the base (12), a driver (14) rotatably mounted on the support arm (13), and a telescopic shaft (15) telescopically mounted on the driver (14). The telescopic shaft (15) is connected to the carrier (5).

6. A gripping robotic arm with a vacuuming function according to claim 1, characterized in that: The control box (1) is provided with a vision component (16), and the control box (1) is electrically connected to the vision component (16). The vision component (16) has a support frame (17) set on the control box (1), a linear motor module (18) set on the support frame (17), and a camera unit (19) slidably set on the linear motor module (18).

7. A gripping robotic arm with a vacuuming function according to claim 6, characterized in that: The support frame (17) is detachably provided with a fill light plate (21), which is located below the camera unit (19). The fill light plate (21) is provided with a shooting hole (22) corresponding to the camera unit (19).

8. A gripping robotic arm with a vacuuming function according to claim 1, characterized in that: A flexible tube (23) is connected between the support base (5) and the vacuum cleaner (2). The support base (5) is provided with a suction connector (24). The flexible tube (23) is provided with a movable connector (25) that can rotate relative to the suction connector (24) at one end near the support base (5), so that the flexible tube (23) can rotate circumferentially or swing at an angle with the movement of the robotic arm unit (3).

9. A gripping robotic arm with a vacuuming function according to claim 1, characterized in that: A U-shaped support base (26) is provided between the robotic arm unit (3) and the control box (1), with the U-shaped opening of the support base (26) facing the control box (1).

10. A gripping robot with a vacuuming function according to claim 1, characterized in that: The bottom of the control box (1) is provided with multiple cup holders (27) and multiple casters (28) that cooperate with the multiple cup holders (27).

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