Vacuum chuck clamp and quick-change robot hand

Abstract

The utility model discloses a kind of vacuum chuck clamp and quick-change manipulator, belong to clamp field, a kind of vacuum chuck clamp, pedestal, quick-change head, quick-change plate, vacuum generator and chuck, the top wall of pedestal is detachably connected with quick-change head, the bottom wall of pedestal is detachably connected with quick-change plate, the outside wall of quick-change head has annular clamping slot, quick-change head has air inlet passage, the bottom of pedestal has air cavity, quick-change plate is installed with at least one chuck, chuck is communicated with air cavity, at least one vacuum generator is installed between the bottom of quick-change head and pedestal, the top end of vacuum generator is communicated with air inlet passage, the bottom end of vacuum generator is communicated with air cavity. The utility model is implemented tool-free quick change by quick-change head annular clamping slot and the ball cooperation of mounting position, modular design of collocation detachable quick-change plate, both shorten clamp replacement time, improve production line efficiency, can also flexible adaptation different production needs, reduce use and maintenance cost.

Description

Technical Field

[0001] This utility model belongs to the field of clamps, and in particular relates to a vacuum suction cup clamp and a quick-change mechanism. Background Technology

[0002] In modern industrial automation, vacuum chucks are widely used in the loading and unloading of precision parts such as cutting blades. They utilize the principle of vacuum adsorption to quickly grasp and precisely transport the blades, effectively improving production efficiency and machining accuracy. However, with increasing product diversification and process complexity, existing vacuum chucks have revealed significant shortcomings in practical applications. Currently, traditional vacuum suction cup clamps mostly use bolt-locking for fixing, requiring tools such as wrenches and screwdrivers to assemble and disassemble the clamps from the robotic arm. This method has two major drawbacks: First, the operation process is cumbersome, and each replacement is time-consuming, making it difficult to meet the needs of rapid changeover on production lines. Especially in small-batch, multi-variety production scenarios, frequent clamp disassembly and assembly significantly increases equipment downtime. Second, repeated disassembly and assembly can easily cause thread wear and decreased positioning accuracy, affecting the quality of subsequent processing. Furthermore, after long-term use, the entire clamp needs to be replaced, resulting in high maintenance costs. Furthermore, existing vacuum suction cup fixtures lack flexibility and are difficult to adapt to different blade specifications and diverse loading and unloading requirements. Because the fixture and suction cup are integrated into one design, the entire fixture must be replaced when the suction cup type needs to be changed or the suction point adjusted. This makes it impossible to quickly replace parts of the structure, resulting in resource waste and limiting the flexible production capacity of the production line. Summary of the Invention

[0003] The purpose of this invention is to provide a vacuum suction cup clamp and a quick-change robotic arm to overcome at least one of the above-mentioned defects in the prior art.

[0004] To achieve this objective, the present invention adopts the following technical solution: This utility model provides a vacuum suction cup clamp, comprising a base, a quick-change head, a quick-change plate, a vacuum generator, and suction cups. The quick-change head is detachably connected to the top wall of the base, and the quick-change plate is detachably connected to the bottom wall of the base. The outer side wall of the quick-change head has an annular groove and an air inlet channel. The bottom of the base has an air chamber. At least one suction cup is mounted on the quick-change plate and communicates with the air chamber. At least one vacuum generator is installed between the quick-change head and the bottom of the base. The top end of the vacuum generator communicates with the air inlet channel, and the bottom end of the vacuum generator communicates with the air chamber.

[0005] Preferably, the intake passage includes a main passage and a branch passage. The top end of the main passage penetrates the top wall of the quick-change head, and the main passage is connected to at least one branch passage. The bottom end of the branch passage penetrates the bottom wall of the quick-change head.

[0006] Preferably, the quick-change head includes a connecting part, a quick-change part, and a first plug-in part. The connecting part is detachably connected to the top of the base. The quick-change part is disposed on the top wall of the connecting part. An annular groove is disposed on the outer side wall of the quick-change part. At least one plug-in part is connected to the bottom wall of the connecting part. The first plug-in part is inserted into the vacuum generator.

[0007] Preferably, the base includes a base plate, a vertical plate, a second insertion part, and a sealing ring. The top wall of the base plate is detachably connected to the vertical plate, the quick-change head is detachably connected to the top wall of the vertical plate, the air chamber is disposed on the base plate, the top wall of the base plate has at least one second insertion part, the second insertion part is inserted into the vacuum generator and communicates with the air chamber, the bottom wall of the base plate has a mounting groove, the mounting groove is disposed around the air chamber, and the sealing ring is installed in the mounting groove.

[0008] Preferably, the vacuum generator is model SMC-ZU05SA.

[0009] This utility model also provides a quick-change robotic arm, including a linear module, a rotating component, and the aforementioned vacuum suction cup clamp. The moving end of the linear module is fixed with the rotating component, and the quick-change head is detachably connected to the rotating end of the rotating component.

[0010] Preferably, the rotating assembly includes a servo motor, a mounting bracket, a rotary joint, an angular contact bearing housing, a rotating shaft, and a mounting base. The servo motor, rotary joint, and angular contact bearing housing are all fixed to the mounting bracket. The servo motor is connected to the rotating shaft via the rotary joint, and the rotary joint communicates with the rotating shaft. The bottom end of the rotating shaft passes through the angular contact bearing housing and is fixed to the mounting base, and the rotating shaft communicates with the mounting base. The quick-change head is detachably connected to the mounting base, and the air intake channel communicates with the mounting base.

[0011] Preferably, the rotary joint has a fixed end and a rotating end at its two ends, the rotating end rotating relative to the fixed end, the fixed end fixed to the mounting bracket, the fixed end having at least one first air passage, the rotating end having at least one second air passage, the first air passage communicating with the second air passage, the interior of the rotating shaft having at least one third air passage, the bottom end of the third air passage penetrating the bottom end of the rotating shaft, the side end of the third air passage penetrating the side wall of the rotating shaft, the second air passage communicating with the side end of the third air passage, the mounting base having at least one fourth air passage, the top end of the fourth air passage communicating with the bottom end of the third air passage, and the top end of the air intake passage communicating with the bottom end of the fourth air passage.

[0012] Preferably, the mounting base includes a base body, a ball bearing, and a rotating body. The ball bearing is mounted on the base body and can move radially along the base body. The ball bearing engages with an annular groove. The rotating body is screwed onto the base body and is used to push the ball bearing toward the centerline of the mounting base.

[0013] Preferably, the bottom of the base has a first slot for inserting a quick-change head, the top of the base has a second slot for inserting a rotating shaft, the side wall of the base has several receiving channels for accommodating balls, the receiving channels are connected to the first slot, the inner end of the receiving channel has a retaining ring, and the bottom of the rotating body has a frustum hole, the frustum hole is located outside the receiving channel.

[0014] The beneficial effects of this utility model are as follows: 1. Tool-free quick change is achieved by using the quick change head's annular groove and the ball bearings in the mounting position. Combined with the modular design of the detachable quick change plate, it not only shortens the fixture change time and improves production line efficiency, but also flexibly adapts to different production needs and reduces usage and maintenance costs.

[0015] 2. The quick-change head air intake channel adopts a main channel and a branch channel design, combined with the connection structure between the vacuum generator and the air chamber, to achieve efficient transmission and distribution of vacuum suction, ensuring stable adsorption of the blade by the suction cup.

[0016] 3. The first connector of the quick-change head and the second connector of the base are inserted into the vacuum generator, which not only achieves precise connection of the air path, but also provides a positioning reference for the installation of the fixture.

[0017] 4. The quick-change robot integrates linear modules and rotary components, achieving high-precision power transmission and multi-angle rotation through servo motors and rotary joints. It is equipped with angular contact bearing seats to enhance stability. At the same time, the quick-change structure enables tool-free replacement of fixtures, expanding the three-dimensional operation capabilities and application range of loading and unloading in complex processes.

[0018] 5. Vacuum suction cup clamps can be quickly disassembled and assembled with simple rotation and insertion actions, without the need for additional tools, and can be disassembled and replaced in seconds. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main structure of Embodiment 1 of this utility model.

[0020] Figure 2 This is a three-dimensional structural diagram of the quick-change head according to Embodiment 1 of this utility model.

[0021] Figure 3 This is a top view structural diagram of the quick-change head according to Embodiment 1 of this utility model.

[0022] Figure 4 yes Figure 3 Schematic diagram of the cross-sectional structure along the AA direction.

[0023] Figure 5 This is a three-dimensional exploded structural diagram of Embodiment 1 of this utility model.

[0024] Figure 6This is a partial three-dimensional exploded structural diagram of Embodiment 1 of this utility model.

[0025] Figure 7 This is a three-dimensional structural diagram of Embodiment 2 of this utility model.

[0026] Figure 8 This is a three-dimensional structural diagram of the rotating component in Embodiment 2 of this utility model.

[0027] Figure 9 This is a three-dimensional structural diagram of the rotary joint according to Embodiment 2 of this utility model.

[0028] Figure 10 This is a three-dimensional structural diagram of the rotating shaft in Embodiment 2 of this utility model.

[0029] Figure 11 This is a top view of the mounting base according to Embodiment 2 of this utility model.

[0030] Figure 12 yes Figure 11 Schematic diagram of the cross-sectional structure along the BB direction.

[0031] Figure 13 yes Figure 12 A magnified structural diagram of C.

[0032] Figure 14 This is a three-dimensional structural diagram of the mounting base according to Embodiment 2 of this utility model.

[0033] Figure 15 This is a three-dimensional structural diagram of the rotating body according to Embodiment 2 of this utility model.

[0034] Figure 16 This is a three-dimensional structural diagram of the seat body in Embodiment 2 of this utility model.

[0035] The labels in the attached diagram are as follows: 1-Quick-change plate, 2-Suction cup, 3-Base, 4-Vacuum generator, 5-Quick-change head, 51-Annular slot, 52-Inlet channel, 31-Air chamber, 521-Main channel, 522-Diverter channel, 53-Connecting part, 54-Quick-change part, 55-First insertion part, 32-Base plate, 33-Upright plate, 34-Second insertion part, 35-Sealing ring, 36-Mounting groove, 6-Linear module, 7-Rotating assembly, 71-Servo motor 72-Mounting bracket, 73-Rotary joint, 74-Angular contact bearing housing, 75-Rotating shaft, 76-Mounting base, 731-Fixed end, 732-Rotating end, 733-First air passage, 734-Second air passage, 751-Third air passage, 761-Fourth air passage, 762-Base, 763-Ball, 764-Rotating body, 765-First slot, 766-Second slot, 767-Accommodation channel, 768-Retaining ring, 769-Frustum hole. Detailed Implementation

[0036] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0037] Contents not described in detail in this specification are existing technologies known to those skilled in the art. In the description of this utility model, it should be understood that terms such as "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this utility model. Furthermore, terms such as "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0038] Example 1: like Figures 1 to 6 As shown, this embodiment provides a vacuum suction cup clamp, comprising a base 3, a quick-change head 5, a quick-change plate 1, a vacuum generator 4, and suction cups 2. The quick-change head 5 is detachably connected to the top wall of the base 3, and the quick-change plate 1 is detachably connected to the bottom wall of the base 3. The outer wall of the quick-change head 5 has an annular groove 51 and an air inlet channel 52. The bottom of the base 3 has an air chamber 31. Three suction cups 2 are mounted on the quick-change plate 1, and the suction cups 2 communicate with the air chamber 31. Two vacuum generators 4 are installed between the quick-change head 5 and the bottom of the base 3. The top end of the vacuum generator 4 communicates with the air inlet channel 52, and the bottom end of the vacuum generator 4 communicates with the air chamber 31. In other embodiments, there may be one, two, four, or more suction cups 2, arranged in a straight line, triangle, or other configurations. In this embodiment, all detachable connections are made using bolts; in other embodiments, snap-fit ​​connections or other methods may also be used. The vacuum suction cup fixture engages with the ball bearings 763 on the robotic arm via the annular groove 51 on the outer wall of the quick-change head 5, enabling tool-free quick insertion and removal. Compared to traditional bolt locking methods, this significantly shortens fixture change time and reduces equipment downtime, making it particularly suitable for flexible production scenarios with small batches and multiple product varieties, and significantly improving production line processing efficiency. The quick-change plate 1 and base 3 are detachably connected, allowing users to flexibly replace the quick-change plate 1 and its suction cup 2 combination according to different blade specifications and loading / unloading requirements, without replacing the entire fixture. This reduces operating costs and greatly improves the fixture's adaptability to diverse production tasks. Furthermore, components such as the quick-change head 5, base 3, and quick-change plate 1 are modularly assembled, resulting in a compact structure that is easy to disassemble and maintain. When a component is damaged, only the corresponding module needs to be replaced, reducing the frequency of overall replacement and effectively lowering equipment maintenance costs and difficulty. The vacuum generator 4 in this embodiment is model SMC-ZU05SA.

[0039] The air intake channel 52 includes a main channel 521 and a branch channel 522. The top of the main channel 521 penetrates the top wall of the quick-change head 5, and the main channel 521 connects to two branch channels 522. The bottom of the branch channels 522 penetrates the bottom wall of the quick-change head 5. The air intake channel 52 of the quick-change head 5 adopts the design of the main channel 521 and the branch channel 522. Combined with the connection structure between the vacuum generator 4 and the air chamber 31, it realizes the efficient transmission and distribution of vacuum suction, ensuring the stable adsorption of the blade by the suction cup 2.

[0040] The quick-change head 5 includes a connecting part 53, a quick-change part 54, a first insertion part 55, and a sealing ring 35. The connecting part 53 is detachably connected to the top of the base 3. The quick-change part 54 is disposed on the top wall of the connecting part 53. An annular groove 51 is disposed on the outer side wall of the quick-change part 54. The bottom wall of the connecting part 53 is connected to two insertion parts. The first insertion part 55 is inserted into the vacuum generator 4. The base 3 includes a base plate 32, a vertical plate 33, and a second insertion part 34. The top wall of the base plate 32 is detachably connected to the vertical plate 33. The quick-change head 5 is detachably connected to the top wall of the vertical plate 33. The air chamber 31 is disposed on the base plate 32. The top wall of the base plate 32 has two second insertion parts 34. The second insertion parts 34 are inserted into the vacuum generator 4 and communicate with the air chamber 31. The bottom wall of the base plate 32 has a mounting groove 36. The mounting groove 36 is disposed around the air chamber 31. The sealing ring 35 is installed in the mounting groove 36. The first insertion part 55 of the quick-change head 5 mates with the second insertion part 34 of the base 3 to insert into the vacuum generator 4, achieving precise air path alignment and providing a positioning reference for fixture installation. Simultaneously, the sealing ring 35 surrounds the air chamber 31 and is mounted on the base plate 32, effectively preventing air leakage and further improving adsorption reliability.

[0041] Example 2: like Figures 7 to 16As shown, this embodiment provides a quick-change robotic arm, including a linear module 6, a rotating assembly 7, and a vacuum suction cup gripper as described in Embodiment 1. The moving end of the linear module 6 is fixed to the rotating assembly 7, and the quick-change head 5 is detachably connected to the rotating end 732 of the rotating assembly 7. The rotating assembly 7 includes a servo motor 71, a mounting frame 72, a rotary joint 73, an angular contact bearing seat 74, a rotating shaft 75, and a mounting base 76. The servo motor 71, rotary joint 73, and angular contact bearing seat 74 are all fixed to the mounting frame 72. The servo motor 71 is connected to the rotating shaft 75 via the rotary joint 73, and the rotary joint 73 communicates with the rotating shaft 75. The bottom end of the rotating shaft 75 passes through the angular contact bearing seat 74 and is fixed to the mounting base 76, and the rotating shaft 75 communicates with the mounting base 76. The quick-change head 5 is detachably connected to the mounting base 76, and the air intake channel 52 communicates with the mounting base 76. The quick-change robotic arm integrates a linear module 6 and a rotary assembly 7. The linear module 6 enables linear displacement of the gripper, while the servo motor 71 and rotary joint 73 in the rotary assembly 7 cooperate to support multi-angle rotation of the gripper, giving the vacuum suction cup gripper flexible three-dimensional operation capabilities. This allows it to adapt to the loading and unloading needs of complex processes, expanding the application range of the equipment. High-precision power transmission is achieved using the rotary joint 73 and the servo motor 71. A dual-effect support system is constructed using the angular contact bearing housing 74 and the rotary joint 73. At the same time, the rotary joint 73 avoids pipeline entanglement, and the quick-change head 5 and mounting base 76 enable rapid gripper replacement.

[0042] The rotary joint 73 has a fixed end 731 and a rotating end 732 at its two ends, with the rotating end 732 rotating relative to the fixed end 731. The fixed end 731 is fixed to the mounting bracket 72 and has at least one first air passage 733. The rotating end 732 has at least one second air passage 734, which communicates with each other. The rotating shaft 75 has at least one third air passage 751 inside, with its bottom end penetrating the bottom end of the rotating shaft 75 and its side end penetrating the side wall of the rotating shaft 75. The second air passage 734 communicates with the side end of the third air passage 751. The mounting base 76 has at least one fourth air passage 761, with its top end communicating with the bottom end of the third air passage 751. The top end of the air intake channel 52 communicates with the bottom end of the fourth air passage 761. The rotary joint 73 in this embodiment is model MQR2-M5. The fixed end 731 of the rotary joint 73 rotates relative to the rotating end 732, and the first air passage 733 and the second air passage 734 remain connected at all times, allowing the rotating assembly 7 to rotate continuously 360° without affecting air transmission. The third air passage 751 directly passes through the bottom end and side wall of the rotating shaft 75, and the fourth air passage 761 connects to the air intake passage 52 to reduce airflow resistance. In this embodiment, there are two first air passages 733, two second air passages 734, three third air passages 751, and four fourth air passages 761; in other embodiments, there may be one or more.

[0043] The mounting base 76 includes a base body 762, a ball bearing 763, and a rotating body 764. The ball bearing 763 is mounted on the base body 762 and can move radially along the base body 762. The ball bearing 763 engages with an annular groove 51. The rotating body 764 is screwed onto the outside of the base body 762 and is used to push the ball bearing 763 toward the centerline of the mounting base 76. The vacuum suction cup clamp can be quickly disassembled and assembled through simple rotation and insertion / removal actions, without the need for additional tools, and can be disassembled and replaced within seconds.

[0044] The base 762 has a first slot 765 at its bottom for inserting the quick-change head 5, and a second slot 766 at its top for inserting the rotating shaft 75. The sidewalls of the base 762 have several receiving channels 767 for accommodating the balls 763. These channels 767 communicate with the first slot 765, and each receiving channel 767 has a retaining ring 768 at its inner end. The bottom of the rotating body 764 has a frustum-shaped hole 769 located outside the receiving channels 767. The retaining ring 768 restricts the inward movement of the balls 763, while the rotating body 764 restricts the outward movement of the balls 763. During installation, first insert the quick-change head 5 upwards into the first slot 765, then rotate the rotating body 764 to move it downwards, thereby causing the frustum hole 769 to move downwards. The ball bearing 763 is pushed towards the annular groove 51 through the side wall of the frustum hole 769 until the ball bearing 763 abuts against the annular groove 51, completing the installation of the vacuum suction cup clamp. Disassembly is the reverse of installation and will not be described further.

[0045] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A vacuum suction cup clamp, characterized in that: Base, quick-change head, quick-change plate, vacuum generator, and suction cup; The base has a quick-change head detachably connected to its top wall and a quick-change plate detachably connected to its bottom wall. The outer wall of the quick-change head has an annular groove; The quick-change head has an air intake channel, and the bottom of the base has an air chamber; The quick-change plate is equipped with at least one suction cup, and the suction cup is in communication with the air chamber; At least one vacuum generator is installed between the quick-change head and the bottom of the base; The top end of the vacuum generator is connected to the air inlet channel, and the bottom end of the vacuum generator is connected to the air chamber; The intake passage includes a main passage and a branch passage; The top of the main channel penetrates the top wall of the quick-change head; The main channel is connected to at least one branch channel, the bottom end of which penetrates the bottom wall of the quick-change head.

2. The vacuum suction cup clamp according to claim 1, characterized in that: The quick-connect head includes a connecting part, a quick-connect part, and a first plug-in part; The connecting part is detachably connected to the top of the base; The quick-change part is disposed on the top wall of the connecting part, and the annular groove is disposed on the outer side wall of the quick-change part; The bottom wall of the connector is connected to at least one plug-in portion, and the first plug-in portion is inserted into the vacuum generator.

3. The vacuum suction cup clamp according to claim 1, characterized in that: The base includes a base plate, a vertical plate, a second insertion part, and a sealing ring; The top wall of the substrate is detachably connected to a vertical plate, and the quick-change head is detachably connected to the top wall of the vertical plate; The air cavity is disposed on the substrate; The top wall of the substrate has at least one second insertion portion, which is inserted into the vacuum generator and communicates with the air cavity; The bottom wall of the substrate has a mounting groove, which surrounds the air cavity; The sealing ring is installed in the mounting groove.

4. The vacuum suction cup clamp according to claim 3, characterized in that: The vacuum generator is model SMC-ZU05SA.

5. A quick-change robotic arm, characterized in that: Includes a linear module, a rotating assembly, and the vacuum chuck clamp as described in any one of claims 1-4; The moving end of the linear module is fixed with a rotating component, and the quick-change head is detachably connected to the rotating end of the rotating component.

6. The quick-change robotic arm according to claim 5, characterized in that: The rotating assembly includes a servo motor, a mounting bracket, a rotary joint, an angular contact bearing housing, a rotating shaft, and a mounting base; The servo motor, rotary joint, and angular contact bearing housing are all fixed to the mounting bracket; The servo motor is connected to the rotating shaft via a rotary joint; The rotary joint is connected to the rotary shaft; The bottom end of the rotating shaft is fixed to a mounting base through the angular contact bearing seat; The rotating shaft is connected to the mounting base; The quick-change head is detachably connected to the mounting base; The air intake channel is connected to the mounting base.

7. The quick-change robotic arm according to claim 6, characterized in that: The rotary joint has a fixed end and a rotating end at its two ends, respectively. The rotating end rotates relative to the fixed end; The fixed end is fixed to the mounting bracket; The fixed end has at least one first air passage, and the rotating end has at least one second air passage; The first airway is connected to the second airway; The rotating shaft has at least one third air passage inside; The bottom end of the third airway passes through the bottom end of the rotating shaft; The side end of the third airway penetrates the side wall of the rotating shaft; The second airway is connected to the side end of the third airway; The mounting base has at least one fourth air passage; The top of the fourth airway is connected to the bottom of the third airway; The top of the air intake channel is connected to the bottom of the fourth air passage.

8. The quick-change robotic arm according to claim 6, characterized in that: The mounting base includes a base body, ball bearings, and a rotating body; The ball bearing is mounted on the base and can move radially along the base; the ball bearing engages with the annular groove. The rotating body is screwed onto the body and is used to push the ball towards the centerline of the mounting base.

9. The quick-change robotic arm according to claim 8, characterized in that: The bottom of the base has a first slot for inserting the quick-change head; The top of the base has a second slot for inserting the rotating shaft; The side wall of the seat has a plurality of receiving channels for accommodating the ball bearings, and the receiving channels are in communication with the first slot. The inner end of the accommodating channel has a retaining ring; The bottom of the rotating body has a frustum hole, which is located outside the receiving channel.

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