CN107984490A - Vacuum cup machinery hand - Google Patents
Vacuum cup machinery hand Download PDFInfo
- Publication number
- CN107984490A CN107984490A CN201711475976.4A CN201711475976A CN107984490A CN 107984490 A CN107984490 A CN 107984490A CN 201711475976 A CN201711475976 A CN 201711475976A CN 107984490 A CN107984490 A CN 107984490A
- Authority
- CN
- China
- Prior art keywords
- plate
- support
- hole
- machinery hand
- vacuum cup
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000003139 buffering effect Effects 0.000 claims description 2
- 125000006850 spacer group Chemical group 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 239000000463 material Substances 0.000 abstract description 3
- 238000001179 sorption measurement Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to mechanical equipment technical field, more particularly to a kind of vacuum cup machinery hand.The present invention directly can be picked up plate by the adsorption capacity of air pressure by Suction cup assembly, effectively avoid clamping influence to plate, realize manipulator it is multi-faceted pick and place material function, the topology layout of equipment can be made more to optimize, non-standard need not be customized, reduces cost；Support component can be threaded through the hollow part of plate, by increasing the contact area of handgrip and plate, can play the role of support to plate, avoid improving product yield there is a situation where fractureing in plate handling process.
Description
Technical field
The present invention relates to mechanical equipment technical field, more particularly to a kind of vacuum cup machinery hand.
Background technology
Robot grab be present machinery production and processing in a kind of commonly used hold assembly, using manipulator when
Wait, manipulator carries out clamping chucking power generally by both sides and is clamped, and the realization of its chucking power needs complicated actuator
Two arms of driving are clamped, and at the same time, by the clamping of mechanical structure, its clamping force can be influenced be subject to mechanical precision,
The dynamics of clamping is difficult to control, while when being captured for the plate article of middle part hollow out, because middle part is engraved structure, plate
Clamping or crawl easily cause plate to fracture, and are unfavorable for enterprise's production.
The content of the invention
It is an object of the invention to provide a kind of vacuum cup machinery hand, to solve proposed in the above background technology ask
Topic.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention to solve the technical problems is：
A kind of vacuum cup machinery hand, including Multi-shaft mechanical arm and handgrip, handgrip are arranged in the Multi-shaft mechanical arm；
The handgrip includes gripper frame and the support component being arranged on the gripper frame, and the gripper frame includes and institute
The stent of Multi-shaft mechanical arm connection is stated, the stent is connected by connecting rod with support plate, and the support plate four corners office is equipped with external part,
The external part is equipped with Suction cup assembly.
As a further improvement on the present invention, the support plate is equipped with a hollow-out parts, and the support component is arranged on described
In hollow-out parts.
As a further improvement on the present invention, the support component includes support plate and is arranged in the support plate
Motor, the support plate bottom are equipped with supporting part, and the supporting part is equipped with a shaft, and the motor connects with shaft driving
Connect, the shaft is equipped with gear, and two first through hole for running through the supporting part are additionally provided with the supporting part, and two first is logical
Hole is separately positioned on gear both sides, and first support bar is slidably equipped with the first through hole, and the first support bar is equipped with first
Rack, first rack are engaged with the gear.
As a further improvement on the present invention, described first support bar one end is equipped with one first block, and the other end is equipped with one
Support pad, the support pad are equipped with vacuum plate sucking, the vacuum plate sucking.
As a further improvement on the present invention, two second through holes, second through hole and institute are additionally provided with the supporting part
State first through hole to be vertical setting and be not communicated with, the height of second through hole is slightly below the first through hole, two second through holes
Gear both sides are separately positioned on, second support bar is slidably equipped with second through hole, the second support bar is equipped with the second tooth
Bar, second rack are engaged with the gear.
As a further improvement on the present invention, described second support bar one end is equipped with the second block, and it is solid that the other end is equipped with one
Determine block, the supporting part is equipped with the accommodating cavity for being used for housing the fixed block.
As a further improvement on the present invention, the fixed block is equipped with support pad, and the support pad is equipped with slow
Rush gasket.
As a further improvement on the present invention, the Suction cup assembly includes connecting rod, locking nut and sucker, the company
Extension bar is threaded through in the waist type groove of the external part, and connecting rod is connected by locking nut with external part, the sucker installation
End one end is extended away from connecting rod.
As a further improvement on the present invention, spring is arranged with the connecting rod, the sucker is equipped with abutting part, institute
Both ends of the spring is stated to abut with abutting part and external part bottom surface respectively.
It can be seen from the above technical scheme that the present invention can directly pass through the adsorption capacity pair of air pressure by Suction cup assembly
Plate is picked up, and effectively avoids clamping influence to plate, realize manipulator it is multi-faceted pick and place material function, equipment can be made
Topology layout more optimize, without customizing non-standard, reduce cost；Support component can be threaded through the hollow part of plate, lead to
The contact area of increase handgrip and plate is crossed, support can be played the role of to plate, avoid fractureing in plate handling process
Situation, improve product yield.
Brief description of the drawings
Fig. 1 is a kind of vacuum cup machinery hand structure diagram of the present invention.
Fig. 2 is the handgrip schematic perspective view of the present invention.
Fig. 3 is the handgrip schematic diagram of the present invention.
Fig. 4 is the sectional view at A-A in Fig. 3.
Description of reference numerals：1- Multi-shaft mechanical arms, 2- handgrips, 21- stents, 22- connecting rods, 23- support plates, 24- external parts, 3-
Sucker, 31- connecting rods, 4- support plates, 41- motors, 42- supporting parts, 43- first support bars, 44- second support bars, 45- are housed
Chamber, 46- fixed blocks, 47- shafts, 48- gears.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, so that those skilled in the art can be with
More fully understand the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Refering to Fig. 1, Fig. 2, a kind of vacuum cup machinery hand, including Multi-shaft mechanical arm 1 and handgrip 2, handgrip 2 are arranged on institute
State in Multi-shaft mechanical arm 1；
The handgrip 2 includes gripper frame and the support component that is arranged on the gripper frame, the gripper frame include with
The stent 21 that the Multi-shaft mechanical arm 1 connects, the stent 21 are connected by connecting rod 22 with support plate 23,23 four corners of support plate
Office is equipped with external part 24, and the external part 24 is equipped with Suction cup assembly.
Multi-shaft mechanical arm 1 in the present invention can be 3 shaft mechanical arms, 4 shaft mechanical arms, 5 shaft mechanical arms and 6 shaft mechanical arms
In any one, more preferably scheme is that Multi-shaft mechanical arm 1 can be 6 shaft mechanical arms to the present embodiment.
The support plate 23 is equipped with a hollow-out parts, and the support component is arranged in the hollow-out parts.
Refering to Fig. 3, Fig. 4, the support component includes support plate 4 and the motor 41 being arranged in the support plate 4, institute
State 4 bottom of support plate and be equipped with supporting part 42, the supporting part 42 is equipped with a shaft 47, and the motor 41 drives with the shaft 47
Dynamic connection, the shaft 47 are equipped with gear 48, and two are additionally provided with the supporting part 42 and runs through the first of the supporting part 42
Through hole, two first through hole are separately positioned on 48 both sides of gear, are slidably equipped with first support bar 43 in the first through hole, and described first
Supporting rod 43 is equipped with the first rack, and first rack is engaged with the gear 48.
Motor 41 is rotated with moving gear 48, drives first support bar 43 to stretch out first through hole and web contact, increase with this
The contact area of handgrip 2 and plate, first support bar 43 can hold up plate, avoid filling to be hanging in the middle part of plate, to plate branch
Support, avoids in plate handling process that there is a situation where fracture.
Described 43 one end of first support bar is equipped with one first block, and the other end is equipped with a support pad, the support pad
It is equipped with vacuum plate sucking, the vacuum plate sucking.
Be additionally provided with two second through holes on the supporting part 42, second through hole be vertical setting with the first through hole and
It is not communicated with, the height of second through hole is slightly below the first through hole, and two second through holes are separately positioned on 48 both sides of gear, institute
State and second support bar 44 be slidably equipped with the second through hole, the second support bar 44 is equipped with the second rack, second rack with
The gear 48 engages.
Described 44 one end of second support bar is equipped with the second block, and the other end is equipped with a fixed block 46, on the supporting part 42
Equipped with the accommodating cavity 45 for housing the fixed block 46.
Motor 41 is rotated with moving gear 48, and second support bar 44 stretches out the second through hole and web contact, first support bar 43
The surrounding of plate hollow part is supported at the same time with second support bar 44, further avoids fractureing in plate handling process
Situation, the especially larger plate of Transshipment Permitted area, ensures the quality that plate is carried.
The fixed block 46 is equipped with support pad, and the support pad is equipped with buffering spacer.
The Suction cup assembly includes connecting rod 31, locking nut and sucker 3, and the connecting rod 31 is threaded through the stretching
In the waist type groove at end 24, and connecting rod 31 is connected by locking nut with external part 24, and it is remote that the sucker 3 is installed on connecting rod 31
From 24 one end of external part.
Spring is arranged with the connecting rod 31, the sucker 3 is equipped with abutting part, and the both ends of the spring is respectively with abutting
Portion and 24 bottom surface of external part abut.
By adjusting the position of connecting rod 31 and waist type groove, the spacing of each sucker 3 can be manually adjusted to adapt to work
The size of part, the size of plurality of specifications workpiece can be used to change, applied widely, production cost is low.
It can be seen from the above technical scheme that the present invention can directly pass through the adsorption capacity pair of air pressure by Suction cup assembly
Plate is picked up, and effectively avoids clamping influence to plate, realize manipulator it is multi-faceted pick and place material function, equipment can be made
Topology layout more optimize, without customizing non-standard, reduce cost；Support component can be threaded through the hollow part of plate, lead to
The contact area of increase handgrip 2 and plate is crossed, support can be played the role of to plate, avoid fractureing in plate handling process
Situation, improve product yield.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
Enclose not limited to this.The equivalent substitute or conversion that those skilled in the art are made on the basis of the present invention, in the present invention
Protection domain within.Protection scope of the present invention is subject to claims.
Claims (9)
1. a kind of vacuum cup machinery hand, it is characterised in that including Multi-shaft mechanical arm and handgrip, handgrip is arranged on the multiaxis
On mechanical arm；
The handgrip includes gripper frame and the support component that is arranged on the gripper frame, the gripper frame include with it is described more
The stent of shaft mechanical arm connection, the stent are connected by connecting rod with support plate, and the support plate four corners office is equipped with external part, described
External part is equipped with Suction cup assembly.
2. vacuum cup machinery hand as claimed in claim 1, it is characterised in that the support plate is equipped with a hollow-out parts, described
Support component is arranged in the hollow-out parts.
3. vacuum cup machinery hand as claimed in claim 1, it is characterised in that the support component includes support plate and sets
The motor in the support plate is put, the support plate bottom is equipped with supporting part, and the supporting part is equipped with a shaft, the electricity
Machine is drivingly connected with the shaft, and the shaft is equipped with gear, two are additionally provided with the supporting part and runs through the supporting part
First through hole, two first through hole are separately positioned on gear both sides, are slidably equipped with first support bar in the first through hole, described
One supporting rod is equipped with the first rack, and first rack is engaged with the gear.
4. vacuum cup machinery hand as claimed in claim 3, it is characterised in that described first support bar one end is equipped with one first
Block, the other end are equipped with a support pad, and the support pad is equipped with vacuum plate sucking, the vacuum plate sucking.
5. vacuum cup machinery hand as claimed in claim 3, it is characterised in that it is logical that two second are additionally provided with the supporting part
Hole, second through hole are vertical setting and are not communicated with the first through hole, and the height of second through hole is slightly below described
First through hole, two second through holes are separately positioned on gear both sides, are slidably equipped with second support bar in second through hole, and described second
Supporting rod is equipped with the second rack, and second rack is engaged with the gear.
6. vacuum cup machinery hand as claimed in claim 5, it is characterised in that described second support bar one end is equipped with second gear
Block, the other end are equipped with a fixed block, and the supporting part is equipped with the accommodating cavity for being used for housing the fixed block.
7. vacuum cup machinery hand as claimed in claim 6, it is characterised in that the fixed block is equipped with support pad, institute
State support pad and be equipped with buffering spacer.
8. vacuum cup machinery hand as claimed in claim 1, it is characterised in that the Suction cup assembly includes connecting rod, locking
Nut and sucker, the connecting rod are threaded through in the waist type groove of the external part, and connecting rod passes through locking nut and stretching
End connection, the sucker extend away from end one end installed in connecting rod.
9. vacuum cup machinery hand as claimed in claim 8, it is characterised in that spring is arranged with the connecting rod, it is described
Sucker is equipped with abutting part, and the both ends of the spring is abutted with abutting part and external part bottom surface respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711475976.4A CN107984490B (en) | 2017-12-29 | 2017-12-29 | Vacuum chuck manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711475976.4A CN107984490B (en) | 2017-12-29 | 2017-12-29 | Vacuum chuck manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107984490A true CN107984490A (en) | 2018-05-04 |
| CN107984490B CN107984490B (en) | 2023-12-22 |
Family
ID=62042180
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711475976.4A Active CN107984490B (en) | 2017-12-29 | 2017-12-29 | Vacuum chuck manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107984490B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112304495A (en) * | 2020-10-27 | 2021-02-02 | 安徽海思达机器人有限公司 | Automatic calibrating installation of manometer |
| CN118322218A (en) * | 2024-06-13 | 2024-07-12 | 苏州镒升机器人科技有限公司 | Robot arm control system and method based on force sense and touch feedback |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5290134A (en) * | 1991-12-03 | 1994-03-01 | Advantest Corporation | Pick and place for automatic test handler |
| KR20100083557A (en) * | 2009-01-14 | 2010-07-22 | 현대중공업 주식회사 | Robot hand for multi-function |
| TW201036893A (en) * | 2009-04-07 | 2010-10-16 | Kromax Internat Corp | Fast compact system for unpacking and method for the same |
| CN103662852A (en) * | 2013-11-26 | 2014-03-26 | 风帆股份有限公司 | Multifunctional storage battery stacking tongs |
| CN106002985A (en) * | 2016-07-26 | 2016-10-12 | 青岛北洋天青数联智能股份有限公司 | Carrying and stacking servo mechanical arm |
| CN106914911A (en) * | 2017-03-08 | 2017-07-04 | 浙江理工大学 | Kiln grabbing device on multifunctional glass insulator |
| CN207915504U (en) * | 2017-12-29 | 2018-09-28 | 苏州镒升机器人科技有限公司 | Vacuum cup machinery hand |
-
2017
- 2017-12-29 CN CN201711475976.4A patent/CN107984490B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5290134A (en) * | 1991-12-03 | 1994-03-01 | Advantest Corporation | Pick and place for automatic test handler |
| KR20100083557A (en) * | 2009-01-14 | 2010-07-22 | 현대중공업 주식회사 | Robot hand for multi-function |
| TW201036893A (en) * | 2009-04-07 | 2010-10-16 | Kromax Internat Corp | Fast compact system for unpacking and method for the same |
| CN103662852A (en) * | 2013-11-26 | 2014-03-26 | 风帆股份有限公司 | Multifunctional storage battery stacking tongs |
| CN106002985A (en) * | 2016-07-26 | 2016-10-12 | 青岛北洋天青数联智能股份有限公司 | Carrying and stacking servo mechanical arm |
| CN106914911A (en) * | 2017-03-08 | 2017-07-04 | 浙江理工大学 | Kiln grabbing device on multifunctional glass insulator |
| CN207915504U (en) * | 2017-12-29 | 2018-09-28 | 苏州镒升机器人科技有限公司 | Vacuum cup machinery hand |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112304495A (en) * | 2020-10-27 | 2021-02-02 | 安徽海思达机器人有限公司 | Automatic calibrating installation of manometer |
| CN112304495B (en) * | 2020-10-27 | 2022-06-21 | 安徽海思达机器人有限公司 | Automatic calibrating installation of manometer |
| CN118322218A (en) * | 2024-06-13 | 2024-07-12 | 苏州镒升机器人科技有限公司 | Robot arm control system and method based on force sense and touch feedback |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107984490B (en) | 2023-12-22 |
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| GR01 | Patent grant |