A pneumatically driven sponge suction cup gripper mechanism

Abstract

This utility model relates to the field of automotive component manufacturing technology, and in particular to a pneumatically driven sponge suction cup gripper mechanism. It includes a car battery box cover, a conveyor frame for transporting the car battery box cover, and a sponge suction cup gripper mechanism for picking up the car battery box cover from the conveyor frame. The sponge suction cup gripper mechanism includes a PLC controller, a vision analysis positioning camera, a gripping distance adjustment component, a gripping component, and a connecting base. The gripping distance adjustment component includes a drive motor, an adjusting screw, and an adjusting sliding block. The adjusting screw is parallel to the bottom of the connecting top plate. The gripping component includes a connecting shaft, a gripping shaft, and sponge suction cups. This sponge suction cup gripper mechanism can adjust the distance between the sponge suction cups according to the surface area of ​​the object to be gripped, ensuring that each gripping effectively adapts to the object's shape, size, and mass distribution. This highly efficient adaptive adjustment capability significantly improves handling efficiency and safety.

Description

Technical Field

[0001] This utility model relates to the field of automotive parts manufacturing technology, specifically to a pneumatically driven sponge suction cup gripper mechanism. Background Technology

[0002] The battery box cover is used to protect the battery from external environmental factors such as dust, moisture, and other factors that may negatively affect battery performance. In addition, it can also prevent acid from leaking out of the battery and causing damage to the vehicle and people.

[0003] In the production process of automotive battery box covers, pneumatic suction cup grippers are often used to transport and process the covers. A pneumatic suction cup gripper is a device used for automated handling and manipulation of different objects. It is driven by pneumatic principles and uses suction cups to adapt to and grasp the automotive battery box.

[0004] A robotic arm gripper suction cup described in the prior art includes an aluminum profile crossbeam, a robotic arm connecting plate, aluminum profile longitudinal beams, angle aluminum, a suction nozzle bracket, and a pneumatic suction nozzle. The robotic arm connecting plate is installed in the middle of the upper surface of the aluminum profile crossbeam, and the robotic arm connecting plate is locked in place by a first T-bolt and a first nut. Two or more aluminum profile longitudinal beams are connected to the lower surface of the aluminum profile crossbeam, and the upper surface of each aluminum profile longitudinal beam is connected to both sides of the aluminum profile crossbeam by two angle aluminum. Two or more suction nozzle brackets are installed on each aluminum profile longitudinal beam, one end of each suction nozzle bracket is locked in place by a second T-bolt and a second nut, and a pneumatic suction nozzle is installed at the other end of each suction nozzle bracket.

[0005] The aforementioned robotic arm gripper suction cups are used to grasp and move cardboard boxes, reducing manual labor. However, the distance between the suction cups cannot be automatically adjusted, nor can it be switched and adjusted according to the size of the object being moved. This results in the suction cups not being able to automatically adjust to accommodate objects of different sizes, limiting the flexibility and efficiency of its application. Furthermore, the aforementioned suction cups are ordinary suction cups, which are not suitable for picking up objects with rough or uneven surfaces, thus limiting their use. Utility Model Content

[0006] The purpose of this invention is to provide a pneumatically driven sponge suction cup gripper mechanism to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A pneumatically driven sponge suction cup gripper mechanism includes an automotive battery box cover, a conveyor frame for conveying the automotive battery box cover, and a sponge suction cup gripper mechanism for picking up the automotive battery box cover on the conveyor frame. The sponge suction cup gripper mechanism includes a PLC controller, a visual analysis positioning camera, a gripping distance adjustment component, a gripping component, and a connecting base.

[0009] The connecting seat includes a connecting top plate, with symmetrical sliding through holes on both sides of the top of the connecting top plate, a fixing block for connecting to an external gripping robotic arm is disposed directly above the top of the connecting top plate, and a fixing seat is connected to the bottom of the connecting top plate.

[0010] As a preferred embodiment of this utility model, the gripping distance adjustment assembly includes a drive motor, an adjusting lead screw, and an adjusting sliding block. The adjusting lead screw is located parallel to the bottom of the connecting top plate and passes through both ends of the fixed base, connecting to the bottom ends of both ends of the connecting top plate via bearing seats. The adjusting sliding block has a symmetrical structure and slides inside the sliding through hole on the adjusting lead screw. The drive motor is located at the bottom of one end of the connecting top plate, and one end of the adjusting lead screw passes through the bearing seat and is connected to the output end of the drive motor via a coupling.

[0011] As a preferred embodiment of this utility model, the gripping assembly includes a connecting shaft, a gripping shaft, and a sponge suction cup. The connecting shafts are symmetrically distributed on the adjusting sliding blocks inside each of the sliding through holes via connecting shafts. The gripping shafts are symmetrically distributed above the ends of each of the connecting top plates via connecting shafts. Each connecting shaft is connected to the middle of its nearest gripping shaft via a connecting shaft.

[0012] As a preferred embodiment of this utility model, each of the gripping shafts is connected to a fixing rod at the end away from the connecting top plate for fixing the sponge suction cup, and each fixing rod has a through hole for the high-pressure air pipe of the sponge suction cup to pass through.

[0013] As a preferred embodiment of this utility model, one of the adjusting sliding blocks is connected to the adjusting screw in the forward thread, and the other adjusting sliding block is connected to the adjusting screw in the reverse thread.

[0014] As a preferred embodiment of this utility model, the visual analysis positioning camera is located on the outer wall of one side below the middle of the connecting top plate. The visual analysis positioning camera is electrically connected to the PLC controller via a wire, and the PLC controller wire is electrically connected to the drive motor.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] To address the problems in the background technology, the sponge suction cup gripper mechanism of this application can adjust the distance between the sponge suction cups according to the size of the surface area of ​​the object to be gripped. The size of the surface area of ​​the object to be gripped is identified by a visual analysis positioning camera, and the size and shape of the object being transported are scanned in real time. The data is transmitted to the central control unit in real time to calculate the most suitable layout scheme for the gripping points. The central control unit controls the drive motor to further adjust the distance between the sponge suction cups to ensure that each gripping can effectively adapt to the shape, size and mass distribution of the object.

[0017] The sponge suction cup can easily grip the rough and uneven surface of the car battery box cover, with high work efficiency. Its efficient self-adjustment capability greatly improves handling efficiency and safety.

[0018] During the grasping process, the visual analysis positioning camera identifies the surface area of ​​the object to be grasped, scanning the size and shape of the object in real time and transmitting the data instantly to the central control unit of the PLC controller. The PLC controller receives the data sent by the vision system and calculates the optimal grasping point layout using preset algorithms. These algorithms consider factors such as the object's mass distribution, central gravity, and suction stability. Based on the calculation results, the central control unit sends adjustment commands to the gripper's drive system, controlling the distance and angle of each sponge suction cup to accommodate objects of different sizes and shapes. The drive motor starts, causing the adjusting screw to rotate, and the adjusting slider on the adjusting screw adjusts accordingly. The lead screw slides inside the sliding through hole. When the lead screw rotates forward with the drive motor, the connecting shaft on the adjusting sliding block drives the gripping shaft and the sponge suction cup at its end to move simultaneously to both sides, increasing the gripping area to accommodate objects of different sizes and shapes. When the lead screw rotates in the opposite direction with the drive motor, the connecting shaft on the adjusting sliding block drives the gripping shaft and the sponge suction cup at its end to move simultaneously to the center, decreasing the gripping area. Based on vision analysis and central control unit adjustment, the sponge suction cup gripper mechanism provides flexibility and accuracy in the field of automated handling. Especially for gripping objects with rough or uneven surfaces, such as car battery box covers, its efficient adaptive adjustment capability greatly improves handling efficiency and safety. Attached Figure Description

[0019] Figure 1 This is an isometric view of the conveyor frame and the top cover of the car battery box of this utility model;

[0020] Figure 2 This is a three-dimensional schematic diagram of the integral sponge suction cup gripper mechanism of this utility model;

[0021] Figure 3 This is a top view of the sponge suction cup gripper mechanism of this utility model;

[0022] Figure 4 This is a schematic diagram of the bottom of the sponge suction cup of this utility model;

[0023] Figure 5 This is a schematic diagram of the sponge suction cup gripper mechanism of this utility model;

[0024] Figure 6 This is a block diagram of the controller connection of this utility model.

[0025] In the diagram: 1. Car battery box cover; 2. Conveyor frame; 3. Sponge suction cup gripper mechanism; 31. Visual analysis positioning camera; 32. Grip distance adjustment component; 321. Drive motor; 322. Adjusting screw; 323. Adjusting sliding block; 324. Bearing seat; 33. Grip component; 331. Connecting shaft; 332. Grip shaft; 333. Sponge suction cup; 334. Fixing rod; 34. Connecting seat; 341. Connecting top plate; 342. Sliding through hole; 343. Fixing block; 344. Fixing seat. Detailed Implementation

[0026] The technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the embodiments of this utility model.

[0027] Example

[0028] All devices in this application adopt conventional models in the prior art, and the control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art, and is common knowledge in the field.

[0029] Please see Figure 1-6 This utility model provides a technical solution: a pneumatically driven sponge suction cup gripper mechanism, including a car battery box cover 1, a conveyor frame 2 for conveying the car battery box cover 1, and a sponge suction cup gripper mechanism 3 for sucking up the car battery box cover 1 on the conveyor frame 2. The sponge suction cup gripper mechanism 3 includes a PLC controller, a visual analysis positioning camera 31, a gripping distance adjustment component 32, a gripping component 33, and a connecting seat 34. The connecting seat 34 includes a connecting top plate 341, with symmetrical sliding through holes 342 on both sides of the top of the connecting top plate 341. A fixing block 343 connected to an external gripping robotic arm is disposed directly above the top of the connecting top plate 341, and a fixing seat 344 is connected to the bottom of the connecting top plate 341. The visual analysis positioning camera 31 is located on the outer wall of one side below the middle of the connecting top plate 341. The visual analysis positioning camera 31 is electrically connected to the PLC controller through a wire, and the PLC controller wire is electrically connected to the drive motor 321.

[0030] It should be noted that in this embodiment, a high-resolution industrial-grade camera is used, which can capture clear images of objects, providing accurate basic data for subsequent image analysis. Through advanced image processing algorithms, the camera not only captures the shape and size of the object in real time, but also quickly sends this data to the PLC controller, ensuring high efficiency and low latency in data transmission. After receiving the data from the vision system, the PLC controller uses preset algorithms to perform high-speed calculations to determine the optimal gripping point layout. These algorithms comprehensively consider the object's mass distribution, central gravity, and suction stability to ensure the stability and safety of the gripping process. Based on the calculation results, the PLC controller sends precise adjustment commands to the gripper's drive system, controlling the position and angle of the sponge suction cup 333 so that it can adapt to objects of various sizes and shapes. The vision system's rapid and accurate recognition reduces the time for manual setting and adjustment, improves overall operational efficiency, reduces errors caused by human judgment, and enhances the reliability and safety of the entire handling process.

[0031] Please see Figure 3 , 4 5 and 6, the gripping distance adjustment assembly 32 includes a drive motor 321, an adjusting screw 322, and an adjusting sliding block 323. The adjusting screw 322 is parallel to the bottom of the connecting top plate 341 and passes through both ends of the fixed seat 344, connecting to the bottom ends of both ends of the connecting top plate 341 via bearing seats 324. The adjusting sliding block 323 is symmetrically slidably located inside the sliding through hole 342 on the adjusting screw 322. The drive motor 321 is located at the bottom of one end of the connecting top plate 341, and one end of the adjusting screw 322 passes through the bearing seat 324 and is connected to the output end of the drive motor 321 via a coupling. The gripping assembly 33 includes a connecting shaft 331, a gripping shaft 332, and a sponge suction cup 333. The connecting shaft 331 passes through the bearing seat 324, connecting to the bottom ends of both ends of the connecting top plate 341 via a coupling. The connecting shafts are symmetrically distributed on the adjusting sliding blocks 323 inside each sliding through hole 342. The gripping shafts 332 are symmetrically distributed above the ends of each connecting top plate 341 via the connecting shafts. Each connecting shaft 331 is connected to the middle of its adjacent gripping shaft 332 via the connecting shaft. One adjusting sliding block 323 is threaded to the adjusting screw 322 in the forward direction, and the other adjusting sliding block 323 is threaded to the adjusting screw 322 in the reverse direction. Each gripping shaft 332 is connected to a fixing rod 334 for fixing the sponge suction cup 333 at the end away from the connecting top plate 341. Each fixing rod 334 has a through hole for the high-pressure air pipe of the sponge suction cup 333 to pass through.

[0032] It should be noted that, in this embodiment, the sponge suction cup gripper mechanism 3 of this application can adjust the distance between the sponge suction cups 333 according to the size of the surface area of ​​the object to be gripped. The visual analysis positioning camera 31 identifies the size of the surface area of ​​the object to be gripped, scans the size and shape of the object being transported in real time, and transmits the data to the central control unit in real time. The central control unit calculates the layout scheme of the most suitable gripping point. The central control unit controls the drive motor 321 to further adjust the distance between the sponge suction cups 333 to ensure that each gripping can effectively adapt to the shape, size and mass distribution of the object.

[0033] Furthermore, the sponge suction cup 33 is made of porous elastic materials such as foamed rubber and foamed plastic, which have good flexibility and breathability. The suction cup forms a closed space and uses air pressure difference to adsorb onto the surface of the object. The porosity of the sponge material allows it to adapt to various irregular object surfaces and has a certain degree of adaptability and cushioning effect on the object surface. The sponge suction cup 333 can easily grasp the car battery box cover 1 with a rough and uneven surface, with high work efficiency. Its efficient self-adjustment capability greatly improves the handling efficiency and safety.

[0034] During grasping, the drive motor 321 starts, causing the adjusting screw 322 to rotate. The adjusting sliding block 323 located on the adjusting screw 322 slides inside the sliding through hole 342. When the adjusting screw 322 rotates forward with the drive motor 321, the connecting shaft 331 on the adjusting sliding block 323 drives the grasping shaft 332 and the sponge suction cup 333 at its end to move simultaneously to both sides, increasing the grasping area to accommodate objects of different sizes and shapes. When the adjusting screw 322 rotates in the opposite direction with the drive motor 321, the adjusting sliding block 322... The connecting shaft 331 on the 3rd drive the gripping shaft 332 and the sponge suction cup 333 at its end to move towards the center at the same time, reducing the gripping area. Based on visual analysis and the central control unit, the sponge suction cup gripper mechanism 3 uses a pneumatic system air pump to generate air pressure. The air pressure and flow direction are adjusted by a control valve. The cylinder, as the actuator, converts the air pressure energy into mechanical energy, driving the sponge suction cup 333 to perform corresponding gripping or releasing actions. The suction cup forms a sealed space and uses the air pressure difference to adhere to the surface of the object. Its efficient adaptive adjustment capability greatly improves the handling efficiency and safety.

[0035] The working process of this utility model:

[0036] When using the gripping function, the visual analysis positioning camera 31 identifies the size of the surface area of ​​the object to be gripped, scans the size and shape of the object in real time, and transmits the data to the central control unit of the PLC controller. The PLC controller receives the data sent by the vision system and calculates the optimal gripping point layout using preset algorithms. These algorithms consider factors such as the object's mass distribution, central gravity, and suction stability. Based on the calculation results, the robotic arm reaches the gripping position. The central control unit sends adjustment commands to the gripper's drive system to control the distance and angle of each sponge suction cup to accommodate objects of different sizes and shapes. The drive motor 321 starts, causing the adjusting screw 322 to rotate. The adjusting sliding block 323 located on the adjusting screw 322 slides inside the sliding through hole 342, following the adjusting screw 322. When the motor 321 rotates in the forward direction, the connecting shaft 331 on the adjusting sliding block 323 drives the gripping shaft 332 and the sponge suction cup 333 at its end to move simultaneously to both sides, increasing the gripping area to accommodate objects of different sizes and shapes. When the adjusting screw 322 rotates in the reverse direction following the drive motor 321, the connecting shaft 331 on the adjusting sliding block 323 drives the gripping shaft 332 and the sponge suction cup 333 at its end to move simultaneously to the center, decreasing the gripping area. Based on visual analysis and adjustment by the central control unit, the sponge suction cup gripper mechanism 3 uses a pneumatic system air pump to generate air pressure, which is adjusted by a control valve to regulate the air pressure and flow direction. The cylinder acts as an actuator, converting air pressure energy into mechanical energy to drive the sponge suction cup 333 to perform corresponding gripping or releasing actions. The suction cup forms a sealed space and uses the air pressure difference to adhere to the surface of the object, allowing the robotic arm to transport the car battery cover.

[0037] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pneumatically driven sponge suction cup gripper mechanism, comprising a car battery box cover (1), a conveyor frame (2) for conveying the car battery box cover (1), and a sponge suction cup gripper mechanism (3) for suctioning the car battery box cover (1) from the conveyor frame (2), characterized in that: The sponge suction cup gripper mechanism (3) includes a PLC controller, a visual analysis positioning camera (31), a gripping distance adjustment component (32), a gripping component (33), and a connecting base (34); The connecting seat (34) includes a connecting top plate (341), and sliding through holes (342) are symmetrically opened on both sides of the top of the connecting top plate (341). A fixing block (343) connected to an external gripping robotic arm is provided directly above the top of the connecting top plate (341), and a fixing seat (344) is connected to the bottom of the connecting top plate (341).

2. The pneumatically driven sponge suction cup gripper mechanism according to claim 1, characterized in that: The gripping distance adjustment assembly (32) includes a drive motor (321), an adjusting screw (322), and an adjusting sliding block (323). The adjusting screw (322) is located parallel to the bottom of the connecting top plate (341). The adjusting screw (322) passes through both ends of the fixed base (344) and is connected to the bottom ends of both ends of the connecting top plate (341) through bearing seats (324). The adjusting sliding block (323) is symmetrically located inside the sliding through hole (342) on the adjusting screw (322). The drive motor (321) is located at the bottom of one end of the connecting top plate (341). One end of the adjusting screw (322) passes through the bearing seat (324) and is connected to the output end of the drive motor (321) through a coupling.

3. The pneumatically driven sponge suction cup gripper mechanism according to claim 2, characterized in that: The gripping assembly (33) includes a connecting shaft (331), a gripping shaft (332), and a sponge suction cup (333). The connecting shaft (331) is symmetrically distributed on the adjusting sliding block (323) inside each sliding through hole (342) via a connecting shaft. The gripping shaft (332) is symmetrically distributed above the end of each connecting top plate (341) via a connecting shaft. Each connecting shaft (331) is connected to the middle of the adjacent gripping shaft (332) via a connecting shaft.

4. The pneumatically driven sponge suction cup gripper mechanism according to claim 3, characterized in that: Each of the gripping shafts (332) is connected to a fixing rod (334) at the end away from the connecting top plate (341) for fixing the sponge suction cup (333). Each fixing rod (334) has a through hole for the high-pressure air pipe of the sponge suction cup (333) to pass through.

5. The pneumatically driven sponge suction cup gripper mechanism according to claim 2, characterized in that: One of the adjusting sliding blocks (323) is threadedly connected to the adjusting screw (322) in the forward direction, and the other adjusting sliding block (323) is threadedly connected to the adjusting screw (322) in the reverse direction.

6. The pneumatically driven sponge suction cup gripper mechanism according to claim 1, characterized in that: The visual analysis positioning camera (31) is located on the outer wall of one side below the middle of the connecting top plate (341). The visual analysis positioning camera (31) is electrically connected to the PLC controller through a wire. The PLC controller wire is electrically connected to the drive motor (321).

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