CN107984490B - Vacuum chuck manipulator - Google Patents
Vacuum chuck manipulator Download PDFInfo
- Publication number
- CN107984490B CN107984490B CN201711475976.4A CN201711475976A CN107984490B CN 107984490 B CN107984490 B CN 107984490B CN 201711475976 A CN201711475976 A CN 201711475976A CN 107984490 B CN107984490 B CN 107984490B
- Authority
- CN
- China
- Prior art keywords
- support
- plate
- holes
- connecting rod
- vacuum chuck
- 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.)
- Active
Links
- 230000008093 supporting effect Effects 0.000 claims abstract description 40
- 230000000149 penetrating effect Effects 0.000 claims abstract description 7
- 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
- 241000252254 Catostomidae Species 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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 invention relates to the technical field of mechanical equipment, in particular to a vacuum chuck manipulator. According to the invention, the sucker assembly can directly pick up the plate by the adsorption force of air pressure, so that the influence of clamping on the plate is effectively avoided, the multidirectional material taking and placing function of the manipulator is realized, the structural layout of the equipment is more optimized, the non-standard parts are not required to be customized, and the cost is reduced; the supporting component can be arranged at the hollow part of the plate in a penetrating way, the supporting effect can be achieved on the plate by increasing the contact area of the gripper and the plate, the situation that the plate is broken in the carrying process is avoided, and the product yield is improved.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a vacuum chuck manipulator.
Background
The robot is grabbed and is a clamping part commonly used in the production and processing of present machinery, when using the manipulator, the manipulator is generally pressed from both sides tight through the clamping force that clamps, and the realization of its clamping force needs two arms of complicated driving piece drive to carry out the centre gripping, and simultaneously, through mechanical structure's centre gripping, its clamping dynamics can receive the influence of mechanical precision, and the dynamics of centre gripping is difficult to control, when snatching to the panel article of middle part fretwork simultaneously, because of the middle part is hollow out structure, panel centre gripping or snatch very easily leads to panel rupture, is unfavorable for enterprise production.
Disclosure of Invention
The invention aims to provide a vacuum chuck manipulator which is used for solving the problems in the background technology.
In order to solve the technical problems, the technical scheme adopted by the invention for solving the technical problems is as follows:
a vacuum chuck manipulator comprises a multi-axis mechanical arm and a gripper, wherein the gripper is arranged on the multi-axis mechanical arm;
the hand tongs comprise a hand tongs frame and a supporting component arranged on the hand tongs frame, the hand tongs frame comprises a support connected with the multi-axis mechanical arm, the support is connected with a support plate through a connecting rod, extending ends are arranged at four corners of the support plate, and sucking disc components are arranged on the extending ends.
As a further improvement of the invention, the support plate is provided with a hollowed-out part, and the support component is arranged on the hollowed-out part.
As a further improvement of the invention, the supporting component comprises a supporting plate and a motor arranged on the supporting plate, a supporting part is arranged at the bottom of the supporting plate, a rotating shaft is arranged on the supporting part, the motor is in driving connection with the rotating shaft, a gear is arranged on the rotating shaft, two first through holes penetrating through the supporting part are further arranged on the supporting part, the two first through holes are respectively arranged on two sides of the gear, a first supporting rod is arranged in the first through holes in a sliding mode, a first rack is arranged on the first supporting rod, and the first rack is meshed with the gear.
As a further improvement of the invention, one end of the first supporting rod is provided with a first stop block, the other end of the first supporting rod is provided with a supporting gasket, and the supporting gasket is provided with a buffer gasket.
As a further improvement of the invention, the support part is also provided with two second through holes which are vertically arranged and are not communicated with the first through holes, the height of each second through hole is slightly lower than that of each first through hole, the two second through holes are respectively arranged at two sides of the gear, the second through holes are internally and slidably provided with second support rods, the second support rods are provided with second racks, and the second racks are meshed with the gear.
As a further improvement of the invention, one end of the second supporting rod is provided with a second stop block, the other end of the second supporting rod is provided with a fixed block, and the supporting part is provided with a containing cavity for containing the fixed block.
As a further improvement of the invention, the fixed block is provided with a supporting gasket, and the supporting gasket is provided with a buffer gasket.
As a further improvement of the invention, the sucker assembly comprises a connecting rod, a locking nut and a sucker, wherein the connecting rod is arranged on the waist-shaped groove of the extending end in a penetrating way, the connecting rod is connected with the extending end through the locking nut, and the sucker is arranged at one end of the connecting rod far away from the extending end.
As a further improvement of the invention, the connecting rod is sleeved with a spring, the sucker is provided with an abutting part, and two ends of the spring are respectively abutted with the abutting part and the bottom surface of the extending end.
According to the technical scheme, the sucker assembly can directly pick up the plate by the adsorption force of air pressure, so that the influence of clamping on the plate is effectively avoided, the multidirectional material taking and placing function of the manipulator is realized, the structural layout of the equipment is more optimized, the non-standard parts are not required to be customized, and the cost is reduced; the supporting component can be arranged at the hollow part of the plate in a penetrating way, the supporting effect can be achieved on the plate by increasing the contact area of the gripper and the plate, the situation that the plate is broken in the carrying process is avoided, and the product yield is improved.
Drawings
FIG. 1 is a schematic view of a vacuum chuck robot.
Fig. 2 is a schematic perspective view of a hand grip of the present invention.
Fig. 3 is a schematic view of the grip of the present invention.
Fig. 4 is a cross-sectional view at A-A in fig. 3.
Reference numerals illustrate: the mechanical arm comprises a 1-multiaxial mechanical arm, a 2-grab, a 21-bracket, a 22-connecting rod, a 23-support plate, a 24-extension end, a 3-sucker, a 31-connecting rod, a 4-support plate, a 41-motor, a 42-support part, a 43-first support rod, a 44-second support rod, a 45-accommodating cavity, a 46-fixed block, a 47-rotating shaft and a 48-gear.
Description of the embodiments
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
Referring to fig. 1 and 2, a vacuum chuck manipulator comprises a multi-axis mechanical arm 1 and a gripper 2, wherein the gripper 2 is arranged on the multi-axis mechanical arm 1;
the gripper 2 comprises a gripper frame and a supporting component arranged on the gripper frame, the gripper frame comprises a support 21 connected with the multi-axis mechanical arm 1, the support 21 is connected with a support plate 23 through a connecting rod 22, extending ends 24 are arranged at four corners of the support plate 23, and sucking disc components are arranged on the extending ends 24.
The multi-axis mechanical arm 1 in the present invention may be any one of a 3-axis mechanical arm, a 4-axis mechanical arm, a 5-axis mechanical arm and a 6-axis mechanical arm, and in a preferred embodiment, the multi-axis mechanical arm 1 may be a 6-axis mechanical arm.
The support plate 23 is provided with a hollow portion, and the support assembly is arranged on the hollow portion.
Referring to fig. 3 and 4, the support assembly includes a support plate 4 and a motor 41 disposed on the support plate 4, a support portion 42 is disposed at the bottom of the support plate 4, a rotating shaft 47 is disposed on the support portion 42, the motor 41 is in driving connection with the rotating shaft 47, a gear 48 is disposed on the rotating shaft 47, two first through holes penetrating through the support portion 42 are further disposed on the support portion 42, the two first through holes are disposed on two sides of the gear 48, a first support rod 43 is slidably disposed in the first through holes, a first rack is disposed on the first support rod 43, and the first rack is meshed with the gear 48.
The motor 41 drives the gear 48 to rotate, so that the first supporting rod 43 is driven to extend out of the first through hole to contact with the plate, the contact area between the gripper 2 and the plate is increased, the plate can be supported by the first supporting rod 43, the middle part of the plate is prevented from being hung in the air, the plate is supported, and the plate is prevented from being broken in the carrying process.
One end of the first supporting rod 43 is provided with a first stop block, the other end of the first supporting rod is provided with a supporting gasket, and the supporting gasket is provided with a buffer gasket.
The support portion 42 is further provided with two second through holes, the second through holes are perpendicular to the first through holes and are not communicated with the first through holes, the height of each second through hole is slightly lower than that of each first through hole, the two second through holes are respectively arranged on two sides of the gear 48, a second support rod 44 is slidably arranged in each second through hole, a second rack is arranged on each second support rod 44, and the second racks are meshed with the gears 48.
One end of the second supporting rod 44 is provided with a second stop block, the other end is provided with a fixed block 46, and the supporting part 42 is provided with a containing cavity 45 for containing the fixed block 46.
The motor 41 drives the gear 48 to rotate, the second supporting rod 44 stretches out of the second through hole to be in contact with the plate, the first supporting rod 43 and the second supporting rod 44 simultaneously support the periphery of the hollowed-out part of the plate, the situation that the plate is broken in the carrying process is further avoided, the plate with larger area can be transported, and the carrying quality of the plate is guaranteed.
The fixing block 46 is provided with a supporting pad, and the supporting pad is provided with a buffer pad.
The sucking disc subassembly includes connecting rod 31, lock nut and sucking disc 3, connecting rod 31 wears to establish on the waist type groove of stretching out end 24, and connecting rod 31 passes through lock nut and is connected with stretching out end 24, sucking disc 3 installs and keep away from the one end of stretching out end 24 at connecting rod 31.
The connecting rod 31 is sleeved with a spring, the sucker 3 is provided with an abutting portion, and two ends of the spring are respectively abutted with the abutting portion and the bottom surface of the extending end 24.
Through adjusting the positions of the connecting rod 31 and the waist-shaped groove, the size of the workpiece can be adapted by manually adjusting the distance between the suckers 3, the size of the workpiece with various specifications can be changed, the application range is wide, and the production cost is low.
According to the technical scheme, the sucker assembly can directly pick up the plate by the adsorption force of air pressure, so that the influence of clamping on the plate is effectively avoided, the multidirectional material taking and placing function of the manipulator is realized, the structural layout of the equipment is more optimized, the non-standard parts are not required to be customized, and the cost is reduced; the supporting component can be arranged at the hollow part of the plate in a penetrating way, the contact area between the gripper 2 and the plate is increased, the plate can be supported, the plate is prevented from being broken in the carrying process, and the product yield is improved.
The above-described embodiments are merely preferred embodiments for fully explaining the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutions and modifications will occur to those skilled in the art based on the present invention, and are intended to be within the scope of the present invention. The protection scope of the invention is subject to the claims.
Claims (6)
1. The vacuum chuck manipulator is characterized by comprising a multi-axis mechanical arm and a gripper, wherein the gripper is arranged on the multi-axis mechanical arm;
the gripper comprises a gripper frame and a supporting component arranged on the gripper frame, the gripper frame comprises a bracket connected with the multi-axis mechanical arm, the bracket is connected with a support plate through a connecting rod, extending ends are arranged at four corners of the support plate partially, and sucking disc components are arranged on the extending ends; the support plate is provided with a hollowed-out part, and the support component is arranged on the hollowed-out part;
the support assembly comprises a support plate and a motor arranged on the support plate, a support part is arranged at the bottom of the support plate, a rotating shaft is arranged on the support part, the motor is in driving connection with the rotating shaft, a gear is arranged on the rotating shaft, two first through holes penetrating through the support part are further formed in the support part, the two first through holes are respectively arranged on two sides of the gear, a first support rod is arranged in the first through holes in a sliding mode, a first rack is arranged on the first support rod, and the first rack is meshed with the gear;
the support part is also provided with two second through holes which are perpendicular to the first through holes and are not communicated with the first through holes, the height of each second through hole is slightly lower than that of each first through hole, the two second through holes are respectively arranged on two sides of the gear, a second support rod is slidably arranged in each second through hole, a second rack is arranged on each second support rod, and the second racks are meshed with the gears.
2. The vacuum chuck manipulator of claim 1, wherein the first support bar has a first stop at one end and a support pad at the other end, and wherein the support pad has a buffer pad.
3. The vacuum chuck manipulator of claim 1, wherein the second support bar has a second stopper at one end and a fixed block at the other end, and the support portion has a receiving cavity for receiving the fixed block.
4. A vacuum chuck manipulator according to claim 3, wherein the fixed block is provided with a support pad provided with a buffer pad.
5. The vacuum chuck manipulator of claim 1, wherein the chuck assembly includes a connecting rod, a lock nut, and a chuck, the connecting rod is threaded through the waist-shaped slot of the extension end, and the connecting rod is connected to the extension end by the lock nut, and the chuck is mounted at an end of the connecting rod remote from the extension end.
6. The vacuum chuck manipulator according to claim 5, wherein the connecting rod is sleeved with a spring, the chuck is provided with an abutting portion, and two ends of the spring are respectively abutted with the abutting portion and the bottom surface of the extending end.
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 CN107984490A (en) | 2018-05-04 |
| CN107984490B true 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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (6)
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 (6)
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107984490A (en) | 2018-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203779508U (en) | Adsorption fixture of manipulator | |
| KR101411546B1 (en) | Vacuum gripper is equipped to width adjusting means | |
| KR101140589B1 (en) | Vacuum type gripper | |
| CN212686874U (en) | Clamping mechanism | |
| CN107838938B (en) | Robot gripper | |
| CN109262635A (en) | A kind of robot arm end effector | |
| CN108869521A (en) | A kind of fixed device of vacuum chuck | |
| CN107984490B (en) | Vacuum chuck manipulator | |
| CN108582139A (en) | A kind of stable humanoid robot clamping jaw | |
| CN108529209B (en) | Article clamping device | |
| CN208467875U (en) | A kind of three-shaft linkage electromagnetic adsorption type handling device | |
| CN212146425U (en) | Folding type hard disk array mechanical arm | |
| CN218776617U (en) | Mechanical arm grabbing mechanism | |
| CN207915504U (en) | Vacuum cup machinery hand | |
| CN107792624A (en) | Laminating mechanism and the automatic pressing device with the laminating mechanism | |
| CN212683993U (en) | Practical mechanical arm | |
| CN210024911U (en) | Automatic polishing and feeding and discharging combined tool for manipulator | |
| CN212019183U (en) | Full-automatic punch press type mechanical arm and full-automatic punch press material taking system | |
| CN211137180U (en) | Novel pneumatic manipulator | |
| CN209491772U (en) | A kind of intelligent transfer robot clamping jaw | |
| CN215967547U (en) | Multi-axis clamp | |
| CN213227396U (en) | Sucking disc jig for manipulator of injection molding machine | |
| CN113211485A (en) | High-end intelligent mechanical arm for equipment based on adsorption structure | |
| CN216940732U (en) | Gripper anti-falling jig and robot gripper | |
| CN209986972U (en) | Support device for robot with shock-absorbing function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |