Small vacuum chuck for collaborative robots

Abstract

The utility model discloses a small -size vacuum chuck for collaborative robot, including magnetic chuck, fixedly connected the lower pump pressure sheet of the bottom of magnetic chuck, the upper pump pressure sheet of activity setting in the outside of lower pump pressure sheet and the recess of setting in the outside of magnetic chuck, still include: adsorption subassembly, adsorption subassembly includes setting between the small -size vacuum pump of upper pump pressure sheet and lower pump pressure sheet, the vacuum destruction valve of setting in the bottom of magnetic chuck and fixedly connected in recess inside magnetic suction connector seat male head, the utility model discloses install respectively in the upper and lower sides of mounting disc through with adsorption disc of magnetic chuck, and flange plate passes through the adsorption of magnetic chuck outside fixed, and magnetic suction connector seat male head gives small -size vacuum pump, and vacuum destruction valve transmission control signal and power supply, and vacuum pump is responsible for vacuum generation, and vacuum destruction valve another connector is connected with adsorption disc, can realize integration, and with vacuum source, liberate robot movement, and it is convenient for quick deployment, and reduce overall cost.

Description

Technical Field

[0001] This utility model relates to the field of suction cup technology, and in particular to a small vacuum suction cup for collaborative robots. Background Technology

[0002] Collaborative robots, with their core characteristics of miniaturization, lightweight design, portability, and safe human-robot collaboration, are fundamentally changing the landscape of automation applications, enabling them to enter a wider range of application scenarios such as production lines, laboratories, and hospitals. Vacuum suction cups, as a common vacuum actuator, are widely used for material gripping and handling.

[0003] However, traditional vacuum suction cup systems rely on bulky external air compressors, cumbersome air hoses, and valves. This system not only occupies space, but its complex deployment also significantly limits the inherent flexibility and rapid deployment advantages of collaborative robots. Furthermore, the external vacuum source and air hoses are prone to entanglement during robot movement, and the traditional suction cup itself is relatively heavy, increasing the load on the robot's end effector, reducing the effective grasping weight, and posing a higher safety risk in the event of accidental human-robot collisions. Utility Model Content

[0004] The purpose of this invention is to solve the problems in the prior art where external vacuum sources and air tubes are prone to entanglement during robot movement, and where the traditional suction cup body is relatively heavy, increasing the load on the robot's end effector, reducing the effective gripping weight, and posing a high safety risk in the event of accidental collision between humans and robots. Therefore, a small vacuum suction cup for collaborative robots is proposed.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A small vacuum suction cup for collaborative robots includes a magnetic suction cup, a lower pump plate fixedly connected to the bottom of the magnetic suction cup, an upper pump plate movably disposed outside the lower pump plate, and a groove formed on the outside of the magnetic suction cup, and further includes: The adsorption assembly includes a small vacuum pump disposed between the upper pump plate and the lower pump plate, a vacuum breaking valve disposed at the bottom of the magnetic chuck, and a male magnetic connector fixedly connected inside the groove. The mounting assembly includes a mounting plate fixedly connected to the bottom of the magnetic chuck, a connecting block fixedly connected to the bottom of the mounting plate, an adsorption plate fixedly connected inside the connecting block, a flange set on the top of the magnetic chuck, a connecting seat pressure block fixedly connected inside the flange, a magnetic connecting seat female fixedly connected to the outside of the connecting seat pressure block, and a flange mounting hole opened on the outside of the flange.

[0006] As a preferred technical solution of this application, a first mounting hole is provided at the bottom of the magnetic chuck, and a second mounting hole is provided inside the mounting plate. The first mounting hole and the second mounting hole are connected by bolts.

[0007] As a preferred technical solution of this application, the magnetic chuck has a pin hole on its outside, and a flange positioning pin is fixedly connected to the bottom of the flange, with the bottom end of the flange positioning pin inserted into the pin hole.

[0008] As a preferred technical solution of this application, a positioning groove is provided on one side of the top of the mounting plate, a protrusion is provided on the outside of the magnetic suction cup and the protrusion is located inside the positioning groove, a connection hole is provided at the bottom of the connecting block and the suction cup is located inside the connection hole.

[0009] As a preferred technical solution of this application, the bottom of the mounting plate is provided with a vent hole, and the outside of the mounting plate is provided with a fixing hole.

[0010] As a preferred technical solution of this application, a strong magnet is fixedly connected to the bottom of the flange, a groove is opened on the top of the flange, the groove extends to the lower part of the connecting seat pressure block, and a robot positioning pin is fixedly connected to the top of the flange.

[0011] As a preferred technical solution of this application, the bottom end of the magnetic connector female head is located at the bottom of the flange, the bottom end of the magnetic connector female head is attached to the top end of the magnetic connector male head, and a connecting wire is provided at the top end of the magnetic connector male head, and the connecting wire is located inside the wire groove.

[0012] Compared with the prior art, this utility model provides a small vacuum suction cup for collaborative robots, which has the following beneficial effects: 1. By installing the magnetic chuck and the adsorption plate on the upper and lower parts of the mounting plate respectively, the flange is fixed to the outside of the magnetic chuck by magnetic attraction. During operation, the male end of the magnetic connector is connected to the small vacuum pump and the vacuum breaker valve to transmit control signals and power. The vacuum pump is responsible for generating vacuum and providing suction force, and is connected to the vacuum breaker valve. The other end of the vacuum breaker valve is connected to the adsorption plate. After power is turned on, the solenoid valve closes, and the gas path of the small vacuum pump is connected to the adsorption plate. The adsorption plate generates suction force, which can realize integration, has its own vacuum source, liberates the robot's movement, facilitates rapid deployment, reduces overall cost, and broadens the application boundaries of collaborative robots.

[0013] 2. By setting the flange, the robot positioning pin is used to position the robot end effector. The flange is then fixed to the robot end effector using the mounting holes. The magnetic connector female is connected to the robot end effector's IO interface via a connecting cable. The entire vacuum suction cup is powered and controlled by the robot body. The flange positioning pin determines the relative position of the flange and the magnetic suction cup. At the same time, the strong magnet below attracts the magnetic suction cup, which facilitates the installation and disassembly of the suction cup device and makes it easy to replace the device. Attached Figure Description

[0014] Figure 1 This is a perspective view of a small vacuum suction cup for a collaborative robot proposed in this utility model; Figure 2 This is a schematic diagram of a magnetic chuck for a small vacuum chuck used in a collaborative robot, as proposed in this utility model. Figure 3 This is a schematic diagram of the mounting plate for a small vacuum suction cup for a collaborative robot proposed in this utility model; Figure 4 This is a cross-sectional view of a small vacuum suction cup for a collaborative robot proposed in this utility model; Figure 5 This is a schematic diagram of the flange of a small vacuum suction cup for a collaborative robot proposed in this utility model; Figure 6 This is a schematic diagram of the bottom of the flange of a small vacuum suction cup for a collaborative robot proposed in this utility model.

[0015] In the picture: 1. Magnetic suction cup; 101. Upper pump pressure plate; 102. Lower pump pressure plate; 103. Groove; 104. First mounting hole; 105. Pin hole; 2. Small vacuum pump; 201. Vacuum breaker valve; 202. Male magnetic connector; 3. Mounting plate; 301. Positioning groove; 302. Fixing hole; 303. Vent hole; 304. Connecting block; 305. Connecting hole; 306. Second mounting hole; 4. Adsorption plate; 5. Flange; 501. Connecting seat pressure block; 502. Robot positioning pin; 503. Cable groove; 504. Female magnetic connector; 505. Flange mounting hole; 506. Flange positioning pin; 507. Strong magnet. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model. Example

[0017] Reference Figure 1-6 A small vacuum suction cup for collaborative robots includes a magnetic suction cup 1, a lower pump plate 102 fixedly connected to the bottom of the magnetic suction cup 1, an upper pump plate 101 movably disposed outside the lower pump plate 102, and a groove 103 formed outside the magnetic suction cup 1. It also includes an adsorption assembly and a mounting assembly: the adsorption assembly includes a small vacuum pump 2 disposed between the upper pump plate 101 and the lower pump plate 102, a vacuum breaker valve 201 disposed at the bottom of the magnetic suction cup 1, and a magnetic connector male head 202 fixedly connected inside the groove 103; the mounting assembly includes a mounting plate 3 fixedly connected to the bottom of the magnetic suction cup 1, a connecting block 304 fixedly connected to the bottom of the mounting plate 3, an adsorption cup 4 fixedly connected inside the connecting block 304, a flange 5 disposed at the top of the magnetic suction cup 1, a connecting seat pressure block 501 fixedly connected inside the flange 5, a magnetic connector female head 504 fixedly connected to the outside of the connecting seat pressure block 501, and a flange mounting hole 505 formed outside the flange 5.

[0018] Control signals and power are transmitted from the female magnetic connector 504 on flange 5 to the male magnetic connector 202 on magnetic chuck 1, activating the small vacuum pump 2 in the adsorption assembly. The small vacuum pump 2 starts working and generates a vacuum. At the same time, the vacuum breaker valve 201 closes the vacuum passage, allowing the vacuum to be transferred to the adsorption plate 4. Under the action of the vacuum, the adsorption plate 4 generates suction force to firmly adsorb the object. When it is necessary to release the object, the control signal is disconnected, and the vacuum breaker valve 201 opens the vent to allow the adsorption plate 4 to communicate with the atmosphere. The suction force quickly disappears and the object is released. It is fixed to the end of the robot through flange 5 using flange mounting holes 505. Magnetic chuck 1 and flange 5 are quickly connected by magnetic attraction. Mounting plate 3 and connecting block 304 provide stable support, which facilitates the plug-and-play and quick replacement of this device, improving the flexibility and operating efficiency of the collaborative robot.

[0019] Reference Figure 2 , Figure 3 and Figure 4 A small vacuum suction cup for collaborative robots is further provided with a first mounting hole 104 at the bottom of the magnetic suction cup 1 and a second mounting hole 306 inside the mounting plate 3. The first mounting hole 104 and the second mounting hole 306 are connected by bolts. A pin hole 105 is provided on the outside of the magnetic suction cup 1. A flange positioning pin 506 is fixedly connected to the bottom of the flange 5. The bottom end of the flange positioning pin 506 is inserted into the inside of the pin hole 105.

[0020] The bolt connection between the magnetic chuck 1 and the mounting plate 3 through the first mounting hole 104 and the second mounting hole 306 achieves a stable mechanical fixation, ensuring the rigidity of the overall structure during robot movement and preventing loosening. At the same time, the flange positioning pin 506 at the bottom of the flange 5 and the pin hole 105 on the magnetic chuck 1 can be inserted and matched to achieve precise angular positioning at the beginning of magnetic adsorption, ensuring that the male connector 202 and the female connector 504 of the magnetic connector can be quickly and accurately aligned, avoiding connection failures or damage caused by misalignment, ensuring the reliability of the connection, and realizing quick tool replacement, thereby improving the efficiency of the robot's automated operation.

[0021] Reference Figure 1 and Figure 3 A small vacuum suction cup for a collaborative robot is further provided with a positioning groove 301 on one side of the top of the mounting plate 3, a protrusion on the outside of the magnetic suction cup 1 and the protrusion being located inside the positioning groove 301, a connecting hole 305 at the bottom of the connecting block 304 and the suction cup 4 being located inside the connecting hole 305; a ventilation hole 303 at the bottom of the mounting plate 3 and a fixing hole 302 at the outside of the mounting plate 3.

[0022] The positioning groove 301 on the top of the mounting plate 3 engages with the protrusion on the outside of the magnetic chuck 1 to achieve initial radial positioning, effectively guiding the installation position of the magnetic chuck 1 and ensuring that the first mounting hole 104 on it is accurately aligned with the second mounting hole 306 on the mounting plate 3, facilitating bolt tightening. At the same time, the connecting hole 305 at the bottom of the connecting block 304 is used for precise installation and fixation of the adsorption plate 4, ensuring the airtightness of the vacuum passage. The vent hole 303 at the bottom of the mounting plate 3 can balance the air pressure inside the device and the outside when the small vacuum pump 2 is working, improve the pumping efficiency and prevent the internal and external pressure difference from affecting the structural stability. The fixing hole 302 on the outside of the mounting plate 3 facilitates external fixing and placement, enhancing its adaptability in complex application scenarios.

[0023] Reference Figure 5 and Figure 6 A small vacuum suction cup for collaborative robots is further provided, wherein a strong magnet 507 is fixedly connected to the bottom of the flange 5, and a wire groove 503 is provided on the top of the flange 5, extending to the lower part of the connecting seat pressure block 501. A robot positioning pin 502 is fixedly connected to the top of the flange 5. The bottom end of the magnetic connector female head 504 is located at the bottom of the flange 5, and the bottom end of the magnetic connector female head 504 is attached to the top end of the magnetic connector male head 202. A connecting wire is provided at the top end of the magnetic connector male head 202, and the connecting wire is located inside the wire groove 503.

[0024] The powerful magnet 507 at the bottom of flange 5 provides strong magnetic attraction to firmly attract the entire magnetic chuck 1, ensuring connection stability during high-speed robot movement. At the same time, the robot positioning pin 502 at the top of flange 5 cooperates with the positioning hole of the robot end flange to achieve fast and accurate installation positioning. The cable tray 503 provides a neat routing for the connecting wires leading from the magnetic connector female head 504, preventing wire tangling or wear. The bottom end of the magnetic connector female head 504 directly fits with the top end of the magnetic connector male head 202, ensuring instant conduction of power and signal connections through magnetic attraction, achieving true plug-and-play. The entire connection process does not require manual plugging and unplugging of cables, greatly improving the automation and reliability of tool replacement.

[0025] Specifically, in use, the magnetic chuck 1 assembly is precisely positioned by the protrusion at its bottom and the positioning groove 301 at the top of the mounting plate 3, and is firmly connected to the mounting plate 3 by bolts passing through the first mounting hole 104 and the second mounting hole 306. The suction plate 4 is stably installed in the connecting hole 305 at the bottom of the connecting block 304. The flange 5 is precisely positioned with the robot end flange by the robot positioning pin 502 at the top of the flange 5, and is firmly fixed by the flange mounting hole 505 and bolts. Then, the flange positioning pin 506 is inserted into the pin hole 105 of the magnetic chuck 1 to ensure accurate angular positioning of the two, thereby achieving quick alignment and reliable connection between the male connector 202 and the female connector 504 of the magnetic connector. The entire replacement process does not require manual wiring and achieves complete plug-and-play functionality. The strong attraction generated by the powerful magnet 507 makes the flange 5 and the magnetic chuck 1 tightly adhere. When the collaborative robot needs to perform grasping... During operation, the control system sends commands to the female magnetic connector 504 via the connecting wires laid in the cable tray 503. Power and signals are then transmitted to the adsorption components inside the magnetic chuck 1 through the tightly fitting female magnetic connector 504 and male magnetic connector 202. The male magnetic connector 202 simultaneously supplies power and controls the small vacuum pump 2 and the vacuum breaker valve 201. The small vacuum pump 2 starts to generate a vacuum, and at the same time, the vacuum breaker valve 201 closes its vent, allowing the vacuum passage to guide the adsorption plate 4. A negative pressure is formed inside the adsorption plate 4, thereby generating suction to firmly grasp the workpiece. The vent 303 at the bottom of the mounting plate 3 ensures the balance of air pressure inside and outside the device, ensuring the pumping efficiency of the small vacuum pump 2. When it is necessary to release the workpiece, the robot control system disconnects the signal, and the valve core inside the vacuum breaker valve 201 resets after being de-energized, introducing atmospheric air into the vacuum passage. The negative pressure inside the adsorption plate 4 is quickly destroyed, the suction disappears, and the workpiece is released.

[0026] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A small vacuum suction cup for collaborative robots, comprising a magnetic suction cup (1), a lower pump plate (102) fixedly connected to the bottom of the magnetic suction cup (1), an upper pump plate (101) movably disposed outside the lower pump plate (102), and a groove (103) formed outside the magnetic suction cup (1), characterized in that, Also includes: The adsorption assembly includes a small vacuum pump (2) disposed between the upper pump plate (101) and the lower pump plate (102), a vacuum breaking valve (201) disposed at the bottom of the magnetic chuck (1), and a magnetic connector male (202) fixedly connected inside the groove (103). The mounting assembly includes a mounting plate (3) fixedly connected to the bottom of the magnetic chuck (1), a connecting block (304) fixedly connected to the bottom of the mounting plate (3), an adsorption plate (4) fixedly connected inside the connecting block (304), a flange (5) set on the top of the magnetic chuck (1), a connecting seat pressure block (501) fixedly connected inside the flange (5), a magnetic chuck connecting seat female head (504) fixedly connected to the outside of the connecting seat pressure block (501), and a flange mounting hole (505) opened on the outside of the flange (5).

2. The small vacuum suction cup for a collaborative robot according to claim 1, characterized in that, The magnetic chuck (1) has a first mounting hole (104) at its bottom and the mounting plate (3) has a second mounting hole (306) inside. The first mounting hole (104) and the second mounting hole (306) are connected by bolts.

3. A small vacuum suction cup for a collaborative robot according to claim 1, characterized in that, The magnetic chuck (1) has a pin hole (105) on its outside. The bottom of the flange (5) is fixedly connected to a flange positioning pin (506), and the bottom end of the flange positioning pin (506) is inserted into the pin hole (105).

4. A small vacuum suction cup for a collaborative robot according to claim 1, characterized in that, The mounting plate (3) has a positioning groove (301) on one side of its top. The magnetic suction cup (1) has a protrusion on its outside and the protrusion is located inside the positioning groove (301). The bottom of the connecting block (304) has a connecting hole (305) and the suction plate (4) is located inside the connecting hole (305).

5. A small vacuum suction cup for a collaborative robot according to claim 1, characterized in that, The bottom of the mounting plate (3) is provided with a vent hole (303), and the outside of the mounting plate (3) is provided with a fixing hole (302).

6. A small vacuum suction cup for a collaborative robot according to claim 1, characterized in that, A strong magnet (507) is fixedly connected to the bottom of the flange (5), and a wire groove (503) is opened on the top of the flange (5). The wire groove (503) extends to the lower part of the connecting seat pressure block (501), and a robot positioning pin (502) is fixedly connected to the top of the flange (5).

7. A small vacuum suction cup for a collaborative robot according to claim 1, characterized in that, The bottom end of the magnetic connector female head (504) is located at the bottom of the flange (5), and the bottom end of the magnetic connector female head (504) is attached to the top end of the magnetic connector male head (202). The top end of the magnetic connector male head (202) is provided with a connecting line, and the connecting line is located inside the wire groove (503).

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