Mechanical hand and three-dimensional mechanical hand

Abstract

This utility model discloses a robotic suction cup structure and a three-dimensional robotic arm, relating to the field of robotic arm technology. The robotic suction cup structure includes a main beam and multiple supporting structures. The technical solution of this utility model uses multiple supporting sub-beams spaced apart in the direction away from the main beam of the supporting structures, and the supporting structures are arranged on the same straight line. This facilitates the suction and transfer of a single sheet metal part by multiple suction cups on the supporting structures, and also allows multiple supporting structures to cooperate in the suction and transfer of the same sheet metal part, thereby expanding the applicability of the robotic suction cup interface. The length of the suction cup bracket is adjustable, facilitating the adjustment of the distance between the suction cup and the supporting sub-beams, thus adapting to different inclination angles on the sheet metal surface, ensuring the suction effect and quality, and ultimately guaranteeing the transfer efficiency of the sheet metal part.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm suction cup structure and a three-dimensional robotic arm. Background Technology

[0002] In order to improve the transfer efficiency of large sheet metal parts during the transfer between conveyor belts, suction cups are often used for adsorption and transfer.

[0003] In related technologies, most robotic suction cup holders are on a single plane, while sheet metal parts have planes with different shapes and angles. This results in poor suction cup holder capacity and suction stability, leading to poor stability and efficiency in handling large sheet metal parts. Utility Model Content

[0004] The main purpose of this invention is to propose a robotic suction cup structure and a three-dimensional robotic arm, aiming to improve the stability and efficiency of the robotic suction cup structure in adsorption and handling.

[0005] To achieve the above objectives, the present invention proposes a robotic suction cup structure, comprising:

[0006] Main beam section;

[0007] Multiple support structures are distributed at intervals on opposite sides of the main beam, and adjacent support structures are aligned in a straight line.

[0008] The support structure includes a main support frame and multiple secondary support beams. The main support frame is detachably installed on the side of the main beam. The multiple secondary support beams are arranged at intervals on the main support frame along its extension direction. Multiple suction cup brackets are detachably connected to the secondary support beams, and suction cups are connected to the portions of the suction cup brackets that are away from the secondary support beams.

[0009] In one embodiment, the main support frame includes a first support rod and a second support rod. The first support rod is detachably connected to the side of the main beam via a first connecting platform, and the second support rod is detachably connected to the side of the main beam via a second connecting platform.

[0010] The plurality of the supporting sub-beams are disposed between the first supporting rod and the second supporting rod, and the supporting sub-beams are detachably connected to the first supporting rod and the second supporting rod.

[0011] In one embodiment, the first support rod is shorter than the second support rod, and the ends of two adjacent second support rods away from the main beam are connected by a connecting rod.

[0012] In one embodiment, both the first connecting platform and the second connecting platform are detachably connected to the side of the main beam, and the first connecting platform and the second connecting platform are arranged on the same horizontal plane so that the first support rod and the second support rod are on the same horizontal plane.

[0013] In one embodiment, the suction cup bracket includes a first support rod and a support platform, the first support rod being detachably connected to the support sub-beam, and one end of the first support rod extending away from the support sub-beam;

[0014] The support platform is connected to the end of the first support rod away from the supporting sub-beam, and the suction cup is connected to the support platform.

[0015] In one embodiment, the suction cup bracket further includes a second support rod, which is mounted on the bracket platform and is arranged parallel to the first support rod.

[0016] The suction cup is connected to the end of the second support rod that is away from the supporting sub-beam.

[0017] In one embodiment, the robotic suction cup structure further includes multiple connecting parts, the supporting sub-beam is connected to the first supporting rod through the connecting parts, the supporting sub-beam is connected to the second supporting rod through the connecting parts, the connecting rod is connected to the second supporting rod through the connecting parts, and the suction cup bracket is connected to the supporting sub-beam through the connecting parts.

[0018] In one embodiment, the connecting part is provided with two through holes, and the through holes are perpendicular or parallel to each other.

[0019] In one embodiment, the sidewall of the through hole is further provided with a clamping groove that opens toward the side of the connecting part, and two connectors are connected to the connecting part. The connectors pass through the connecting part and are inserted into the clamping groove.

[0020] This utility model also proposes a three-dimensional robotic arm, including the robotic arm suction cup structure.

[0021] The technical solution of this utility model uses multiple supporting sub-beams spaced apart in the direction away from the main beam of the supporting structure, and the supporting structures are arranged on the same straight line. This facilitates the adsorption and transfer of a single sheet metal part by multiple suction cups on the supporting structure, and also allows multiple supporting structures to cooperate to adsorb and transfer the same sheet metal part. This expands the applicability of the suction cup interface of the robotic arm. The length of the suction cup bracket is adjustable, which makes it easy to adjust the distance between the suction cup and the supporting sub-beam, thereby adapting to the different inclination angles of the sheet metal surface, ensuring the effect and quality of suction cup adsorption, and thus ensuring the transfer efficiency of the sheet metal part. Attached Figure Description

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

[0023] Figure 1 A schematic diagram of an embodiment of the robotic arm suction cup structure provided by this utility model;

[0024] Figure 2 A schematic diagram of another embodiment of the robotic arm suction cup structure provided by this utility model;

[0025] Figure 3 A schematic diagram of another embodiment of the robotic arm suction cup structure provided by this utility model;

[0026] Figure 4 A schematic diagram of another embodiment of the robotic arm suction cup structure provided by this utility model;

[0027] Figure 5 for Figure 3 A magnified view of a section at point A in the middle;

[0028] Figure 6 for Figure 4 A magnified view of a section at point B in the middle.

[0029] Explanation of icon numbers:

[0030] 100. Robotic arm suction cup structure; 10. Main beam; 20. Support structure; 21. First support rod; 22. Second connecting platform; 23. First support rod; 24. Support sub-beam; 25. Second support rod; 30. Connecting rod; 40. Suction cup bracket; 41. Second bracket rod; 42. Bracket platform; 43. First bracket rod; 50. Connecting part; 51. Connecting piece; 52. Through hole; 54. Clamping slot; 60. Suction cup.

[0031] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0033] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0034] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0035] In order to improve the transfer efficiency of large sheet metal parts during the transfer between conveyor belts, suction cups are often used for adsorption and transfer.

[0036] In related technologies, most robotic suction cup holders are on a single plane, while sheet metal parts have planes with different shapes and angles. This results in poor suction cup holder capacity and suction stability, leading to poor stability and efficiency in handling large sheet metal parts.

[0037] This utility model proposes a robotic arm suction cup structure.

[0038] Please see Figure 1 In one embodiment of this utility model, the robotic suction cup structure includes:

[0039] Main beam section 10;

[0040] Multiple support structures 20 are distributed at intervals on opposite sides of the main beam 10, and two adjacent support structures 20 are on the same straight line.

[0041] The support structure 20 includes a main support frame and multiple secondary support beams 24. The main support frame is detachably installed on the side of the main beam 10. The multiple secondary support beams 24 are arranged at intervals on the main support frame along the extension direction of the main support frame. Multiple suction cup brackets 40 are detachably connected to the secondary support beams 24. The portion of the suction cup bracket 40 facing away from the secondary support beam 24 is connected to a suction cup 60.

[0042] like Figure 1 As shown, four support structures 20 are provided, with two support structures 20 respectively provided on opposite sides of the main beam 10, and the two opposite support structures 20 are on the same straight line.

[0043] It is understandable that since the two opposing support structures 20 are on the same straight line, the suction cups 60 set on the support structures 20 can simultaneously adsorb long strip sheet metal parts, or adsorb different sheet metal parts separately. This can ensure the adsorption and transmission efficiency of sheet metal parts and expand the applicability of the support structures 20.

[0044] like Figure 2 As shown, a plurality of supporting secondary beams 24 are erected on the main supporting frame, and the plurality of supporting secondary beams 24 are distributed at intervals in a direction away from the main beam portion 10.

[0045] It is understood that by having multiple supporting sub-beams 24 arranged away from the main beam 10, the suction cup bracket 40 is arranged in a direction away from the main beam 10, which facilitates the adsorption layout of long strip sheet metal parts, improves the adsorption stability of long strip sheet metal parts, and improves handling efficiency.

[0046] Furthermore, the support structure 20, which is arranged in a straight line with the support beam 24, can adsorb excessively long sheet metal parts, so that the support structure 20 can adsorb both long strip sheet metal parts and short sheet metal parts, thereby expanding the adsorption range of the support structure 20.

[0047] It should be noted that, since there are slopes of different sizes on the surface of the sheet metal parts, the spacing between the multiple supporting sub-beams 24 is different, which facilitates the adsorption of the surface at different positions and thus ensures the stability of the adsorption of the sheet metal parts.

[0048] Furthermore, in order to simultaneously adsorb and transfer multiple sheet metal parts, multiple suction cup brackets 40 are arranged at intervals on a supporting sub-beam 24. This facilitates simultaneous adsorption and transfer when multiple sheet metal parts of the same type are arranged side by side, thereby improving the transfer efficiency of the sheet metal parts.

[0049] In one embodiment, the length of the suction cup bracket 40 is adjustable to control the distance between the suction cup 60 and the supporting sub-beam 24, thereby facilitating the adsorption of sheet metal parts with different inclination angles and improving the stability of the adsorption.

[0050] The technical solution of this utility model uses multiple supporting secondary beams 24 spaced apart in the direction away from the main beam 10 of the supporting structure 20, and the supporting structures 20 are arranged on the same straight line. This facilitates the adsorption and transfer of a single sheet metal part by multiple suction cups 60 on the supporting structure 20, and also allows multiple supporting structures 20 to cooperate to adsorb and transfer the same sheet metal part, thereby expanding the application range of the adsorption and transfer of the robotic arm suction cup interface. The length of the suction cup bracket 40 is adjustable, which facilitates the adjustment of the distance between the suction cup 60 and the supporting secondary beam 24, thereby adapting to the different inclination angles of the sheet metal part surface, ensuring the adsorption effect and quality of the suction cup 60, and thus ensuring the transfer efficiency of the sheet metal part.

[0051] In one embodiment, the main support frame includes a first support rod 23 and a second support rod 25. The first support rod 23 is detachably connected to the side of the main beam 10 via a first connecting platform 21, and the second support rod 25 is detachably connected to the side of the main beam 10 via a second connecting platform 22.

[0052] Among them, multiple supporting sub-beams 24 are disposed between the first supporting rod 23 and the second supporting rod 25, and each supporting sub-beam 24 can be detachably connected to the first supporting rod 23 and the second supporting rod 25.

[0053] like Figure 3 and Figure 5 As shown, the first support rod 23 and the second support rod 25 are spaced apart, and the distance between the first support rod 23 and the second support rod 25 is equal to the length of the support sub-beam 24. When the support sub-beam 24 is detachably connected to the first support rod 23 and the second support rod 25, the support sub-beam 24 can be stably erected between the first support rod 23 and the second support rod 25, and ensure that the support sub-beam 24, the first support rod 23 and the second support rod 25 are on the same plane.

[0054] It is understood that the supporting sub-beam 24 is stably mounted on the supporting main frame so that the suction cup bracket 40 can stably install the suction cup 60 on the supporting main frame, thereby ensuring the stability of the adsorption.

[0055] It is understood that the supporting sub-beam 24 is detachably connected to the first supporting rod 23 and the second supporting rod 25. In this way, by detaching and assembling the supporting sub-beam 24, the position of the supporting sub-beam 24 on the first supporting rod 23 and the second supporting rod 25 can be easily adjusted to adapt to the adsorption and adjustment of different sheet metal parts.

[0056] like Figure 1 As shown, the first connecting platform 21 and the second connecting platform 22 are installed at intervals on the side of the main beam 10 and are both located on the same horizontal plane, thereby making the first support rod 23 and the second support rod 25 on the same horizontal plane, which facilitates the positioning of the multiple suction cups 60.

[0057] It is understood that the first support rod 23 is detachably connected to the first connecting platform 21, and the second support rod 25 is detachably connected to the second connecting platform 22. This allows for direct disassembly and assembly of the first support rod 23 and the second support rod 25 when they need to be replaced, thereby improving disassembly and assembly efficiency.

[0058] like Figure 1 As shown, the first connecting platform 21 is detachably connected to the side of the main beam 10 by bolts, and the second connecting platform 22 is detachably connected to the side of the main beam 10 by bolts, so as to facilitate the adjustment of the position of the first connecting platform 21 and the second connecting platform 22 on the side of the main beam 10 to adapt to the adsorption and transmission of sheet metal parts of different positions or different types.

[0059] In one embodiment, the first support rod 23 is shorter than the second support rod 25, and the ends of two adjacent second support rods 25 away from the main beam portion 10 are connected by a connecting rod 30.

[0060] To ensure the stability of the support structure, two adjacent second support rods 25 located on the same side of the main beam 10 are connected by the connecting rod 30.

[0061] It is understood that by connecting the two adjacent support structures through the connecting rod 30, the two adjacent support structures are formed into a whole, so as to ensure the stability of the entire suction cup structure during the adsorption and transfer of sheet metal parts, and ensure the stable and efficient transfer of the suction cup.

[0062] In one embodiment, both the first connecting platform 21 and the second connecting platform 22 are detachably connected to the side of the main beam 10, and the first connecting platform 21 and the second connecting platform 22 are arranged on the same horizontal plane so that the first support rod 23 and the second support rod 25 are on the same horizontal plane.

[0063] In one embodiment, the suction cup bracket 40 includes a first bracket rod 43 and a bracket platform 42. The first bracket rod 43 is detachably connected to the support sub-beam 24, and one end of the first bracket rod 43 extends in a direction away from the support sub-beam 24.

[0064] The support platform 42 is connected to the end of the first support rod 43 away from the supporting sub-beam 24, and the suction cup 60 is connected to the support platform 42.

[0065] like Figure 4 and Figure 6 As shown, the first support rod 43 is installed on the support sub-beam 24, and the first support rod 43 is set perpendicular to the support sub-beam 24. The extension length of the first support rod 43 facilitates the positioning of the suction cup 60.

[0066] It is understood that the bracket platform 42 is used for the stable installation of the suction cup 60, and the suction cup 60 is installed on the bracket platform 42. By adjusting the angle of the bracket platform 42 relative to the first bracket rod 43, the position of the suction cup 60 relative to the first bracket rod 43 can be adjusted to adapt to sheet metal parts with different tilt angles.

[0067] In one embodiment, the suction cup bracket 40 further includes a second bracket rod 41, which is mounted on the bracket platform 42 and is arranged parallel to the first bracket rod 43.

[0068] The suction cup 60 is connected to the end of the second support rod 41 that is away from the supporting sub-beam 24.

[0069] In order to further fine-tune the suction cup 60 relative to the support platform 42, the second support rod 41 is installed on the support platform 42, and the second support rod 41 is parallel to the first support rod 43.

[0070] It is understood that the first support rod 43 is longer than the second support rod 41, and the second support rod 41 is spirally connected to the support platform 42. By rotating the second support rod 41, the length of the second support rod 41 on both sides of the support platform 42 can be adjusted, thereby achieving the precision of the position adjustment of the suction cup 60 and improving the adaptability of the suction cup 60 to the adsorption of sheet metal parts.

[0071] In one embodiment, the robotic suction cup structure 100 further includes a plurality of connecting portions 50, wherein the supporting sub-beam 24 is connected to the first supporting rod 23 through the connecting portions 50, the supporting sub-beam 24 is connected to the second supporting rod 25 through the connecting portions 50, the connecting rod 30 is connected to the second supporting rod 25 through the connecting portions 50, and the suction cup bracket 40 is connected to the supporting sub-beam 24 through the connecting portions 50.

[0072] like Figure 1 As shown, the connection part 50 makes the connection between the supporting sub-beam 24 and the first supporting rod 23 and the second supporting rod 25 more convenient. The first supporting rod 23 passes through the connection part 50, the supporting sub-beam 24 passes through the connection part, and the first supporting rod 23 and the supporting sub-beam 24 are arranged perpendicular to each other.

[0073] It is understood that the supporting sub-beam 24 and the first supporting rod 23 are clamped and fixed by the connecting part 50, thereby achieving the fixed setting of the supporting sub-beam 24. Similarly, the connecting part 50 clamps and fixes the supporting sub-beam 24 and the second supporting rod 25 to ensure the stability of the supporting sub-beam 24.

[0074] The connection between the connecting rod 30 and the second support rod 25 relies on the connecting part 50, which also facilitates the assembly and disassembly of the connecting rod 30 and the second support rod 25, thereby improving the assembly and disassembly efficiency.

[0075] The connection between the suction cup bracket 40 and the support sub-beam 24 relies on the connecting part 50, which facilitates adjusting the position of the suction cup bracket 40 on the support sub-beam 24, and also facilitates adjusting the angle of the suction cup bracket 40 relative to the support sub-beam 24.

[0076] In one embodiment, the connecting part 50 is provided with two through holes 52, and the through directions of the two through holes 52 are perpendicular or parallel to each other.

[0077] like Figure 3 and Figure 5 As shown, the first support rod 23, the second support rod 25, the support sub-beam 24, the connecting rod 30, and the second bracket rod 41 are all round rods.

[0078] To facilitate the connection of the connecting parts 50, the two through holes 52 are perpendicular to each other, so that the rods passing through the two through holes 52 can be connected at an angle.

[0079] It is understood that the cross-section of the through hole 52 is circular, so that when the connecting part 50 is no longer clamping the rod, the angle of the connecting part 50 relative to the rod can be adjusted by rotation, thereby achieving the purpose of adjusting the angle.

[0080] In one embodiment, the sidewall of the through hole 52 is also provided with a clamping groove 54 that opens toward the side of the connecting part 50. The connecting part 50 is also connected to two connectors 51, which pass through the connecting part 50 and pass through the clamping groove 54.

[0081] To facilitate clamping of the rod passing through the through hole 52, a clamping groove 54 is provided on the side wall of the through hole 52.

[0082] It is understandable that after the rod passes through the through hole 52, by rotating the connector 51, the connecting parts 50 on both sides of the clamping slot 54 are brought closer to each other, so that the rod in the through hole 52 can be subjected to a greater clamping force, thereby preventing the rod from moving relative to the connecting part 50 and improving the clamping and fixing force.

[0083] This utility model also proposes a three-dimensional robotic hand, which includes a robotic hand suction cup structure. The specific structure of the robotic hand suction cup structure is as described in the above embodiments. Since this three-dimensional robotic hand adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0084] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A mechanical hand and suction cup structure, characterized by include: Main beam section; Multiple support structures are distributed at intervals on opposite sides of the main beam, and adjacent support structures are aligned in a straight line. The support structure includes a main support frame and multiple secondary support beams. The main support frame is detachably installed on the side of the main beam. The multiple secondary support beams are arranged at intervals on the main support frame along its extension direction. Multiple suction cup brackets are detachably connected to the secondary support beams, and suction cups are connected to the portions of the suction cup brackets that are away from the secondary support beams.

2. The mechanical hand and suction cup structure according to claim 1, characterized in that The main support frame includes a first support rod and a second support rod. The first support rod is detachably connected to the side of the main beam via a first connecting platform, and the second support rod is detachably connected to the side of the main beam via a second connecting platform. The plurality of the supporting sub-beams are disposed between the first supporting rod and the second supporting rod, and the supporting sub-beams are detachably connected to the first supporting rod and the second supporting rod.

3. The mechanical hand and suction cup structure according to claim 2, characterized in that The first support rod is shorter than the second support rod, and the ends of two adjacent second support rods away from the main beam are connected by a connecting rod.

4. The mechanical hand and suction cup structure according to claim 2, wherein Both the first connecting platform and the second connecting platform are detachably connected to the side of the main beam, and the first connecting platform and the second connecting platform are arranged on the same horizontal plane so that the first support rod and the second support rod are on the same horizontal plane.

5. The mechanical hand and suction cup structure according to claim 2, wherein The suction cup bracket includes a first bracket rod and a bracket platform. The first bracket rod is detachably connected to the support sub-beam, and one end of the first bracket rod extends away from the support sub-beam. The support platform is connected to the end of the first support rod away from the supporting sub-beam, and the suction cup is connected to the support platform.

6. The mechanical hand and suction cup structure according to claim 5, characterized in that The suction cup bracket further includes a second bracket rod, which is mounted on the bracket platform and is arranged parallel to the first bracket rod. The suction cup is connected to the end of the second support rod that is away from the supporting sub-beam.

7. The mechanical hand and suction cup structure according to any one of claims 1 to 6, characterized in that The robotic suction cup structure also includes multiple connecting parts. The supporting sub-beam is connected to the first supporting rod through the connecting parts, the supporting sub-beam is connected to the second supporting rod through the connecting parts, the connecting rod is connected to the second supporting rod through the connecting parts, and the suction cup bracket is connected to the supporting sub-beam through the connecting parts.

8. The mechanical hand and suction cup structure according to claim 7, characterized in that The connecting part is provided with two through holes, and the through holes are perpendicular or parallel to each other.

9. The mechanical hand and suction cup structure according to claim 8, characterized in that The side wall of the through hole is also provided with a clamping groove that opens toward the side of the connecting part. Two connectors are also connected to the connecting part. The connectors pass through the connecting part and are inserted into the clamping groove.

10. A three-dimensional robot characterized by comprising: Includes the robotic suction cup structure as described in any one of claims 1 to 9.

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