CN112454410A

CN112454410A - Adjustable sucker for parallel manipulator

Info

Publication number: CN112454410A
Application number: CN202011397798.XA
Authority: CN
Inventors: 杨艳; 鲁鹏; 王自启; 曹川川
Original assignee: Chongqing University of Arts and Sciences
Current assignee: Chongqing University of Arts and Sciences
Priority date: 2020-12-03
Filing date: 2020-12-03
Publication date: 2021-03-09

Abstract

The invention relates to the technical field of manipulator suckers, and discloses an adjustable sucker for a parallel manipulator, which comprises a connecting seat, wherein a connecting ball is arranged at the lower end of the connecting seat, a sliding rod is arranged between the connecting ball and the connecting seat, the upper end of the sliding rod is fixedly connected with the connecting seat, a control device is arranged on the connecting ball, the control device comprises a sliding groove, the sliding groove is arranged on the upper surface of the connecting ball and corresponds to the sliding rod, the sliding rod is positioned in the sliding groove and movably clamped with the connecting ball, a squeezing rod is arranged at one end of the connecting ball far away from the sliding rod, a sucker is arranged at the other end of the squeezing rod, the sucker is fixedly connected with the squeezing rod, an auxiliary adsorption device is arranged at one end of the sucker close to the connecting ball, the adjustable sucker for the parallel manipulator is used through the auxiliary adsorption device, and the adsorption effect between, the practicability of the device is increased.

Description

Adjustable sucker for parallel manipulator

Technical Field

The invention relates to the technical field of mechanical arm suckers, in particular to an adjustable sucker for a parallel type mechanical arm.

Background

The mechanical structure of the parallel manipulator consists of a static platform, a driving arm, a driven arm, a moving platform and an intermediate shaft (Hooke's hinge). The mobile platform is an important component of the parallel robot and is a mechanism for realizing direct output of a motion track of the parallel robot. The spatial extent to which the moving platform can directly reach directly affects the path span during pick and place of the end, even the entry and running speeds of the conveyor. When the fixed platform and the movable platform are connected, the design of the end part of the intermediate shaft directly influences the angle and the precision in the rotating process. That is, the more space the mobile platform can move when the parallel robots complete the sorting and material handling process, the more the robots can grasp and place the material in a wider area. If the feeding position is various, the rotation height of the middle shaft can more flexibly process the conveying of the articles on the conveying belt and the high-speed picking and falling, a part of the existing parallel manipulator uses the suction cup to adsorb and grab when grabbing, but when grabbing by using the suction cup, the mounting seat needs to be squeezed by using the air cylinder, so that the suction cup can adsorb, but the parallel manipulator or the workpiece can be damaged when adsorbing, and the normal working treatment is influenced.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an adjustable sucker for a parallel manipulator, which solves the problems.

(II) technical scheme

In order to achieve the above purpose, the invention provides the following technical scheme: the utility model provides a sucking disc with adjustable be used for parallel manipulator, including the connecting seat, the connecting seat lower extreme is provided with connects the ball, be provided with the slide bar between connection ball and the connecting seat, fixed connection between slide bar upper end and the connecting seat, be provided with controlling means on the connection ball, controlling means includes the sliding tray, the sliding tray is seted up in the position of connecting ball upper surface and corresponding with the slide bar, and the slide bar is located the sliding tray and is connected movable joint between the ball, the one end of keeping away from mutually with the slide bar on the connection ball is provided with the extrusion stem, the extrusion stem other end is provided with the sucking disc, fixed connection between sucking disc and the extrusion stem, the one end that is close to the connection ball on.

Preferably, the extrusion stem and sucking disc quantity are three, and all be provided with the same supplementary adsorption equipment with the same mode on every sucking disc, and three extrusion stem is located and connects half the setting of equidistance on the face down, and the sliding tray size is the twice of sliding tray size, and the sliding tray is seted up the direction and is located same front and back with an extrusion stem direction.

Preferably, the control device further comprises a fixture block, the fixture block is located on the side wall of the sliding rod, the position of the fixture block is opposite to the direction of the sliding groove, the fixture block penetrates through the side wall of the connecting ball, a mounting groove is formed in the side wall of the connecting ball corresponding to the fixture block, the mounting groove is an oval annular groove, the mounting groove is communicated with the sliding groove corresponding to the fixture block, the other end of the mounting groove is located in the direction of the sliding groove and is formed in the sliding groove in a manner of penetrating through the sliding groove, an extrusion spring is arranged on one side of the fixture block located in the mounting groove and is in the direction matched with the diameter of the sliding rod, the extrusion spring is fixedly connected with the fixture block, an extension block is arranged at the other end of the extrusion spring, the extension.

Preferably, be provided with the stopper on the wall that is located fixture block initial position right side in the mounting groove, the stopper is the triangular prism form, the groove has been seted up with the corresponding position of stopper on the mounting groove inner wall and has been accomodate, accomodate groove size and stopper looks adaptation, the stopper is close to the one end of fixture block initial position and is provided with the spring axle of turning round, the stopper is through turning round swing joint between spring axle and the mounting groove inner wall, accomodate the inslot and be provided with reset spring, reset spring one end and stopper are close to fixedly connected between the lateral wall face of accomodating the groove, the reset spring other end is seted up the direction with the mounting groove and is opposite direction and.

Preferably, the extrusion stem is an elastic telescopic rod, the movable end of the extrusion stem is fixedly connected with the connecting ball, and the fixed end of the extrusion stem is fixedly connected with the sucker.

Preferably, supplementary adsorption equipment includes the driven ring, fixed connection between driven ring and the extrusion stem expansion end, and the driven ring is located the extrusion stem expansion end and keeps away from one side of stiff end, and the sucking disc is provided with the slip ring on being close to one side wall of extrusion stem, and the slip ring diameter is half of sucking disc diameter, is provided with the connecting rod between driven ring and the slip ring, and connecting rod quantity is two, and two connecting rods are located fixed connection between both ends and the driven ring of the last symmetry of driven ring, the corresponding position fixed connection on the connecting rod other end and the slip ring.

(III) advantageous effects

Compared with the prior art, the invention provides an adjustable sucker for a parallel manipulator, which has the following beneficial effects:

1. this sucking disc with adjustable be used for parallel manipulator, use through supplementary adsorption equipment, when using, be connected between cylinder and the connecting seat, the connecting seat can drive the connection ball this moment, slide bar and stripper bar are to work piece direction motion extrusion, because the structural relation of stripper bar, can make the stripper bar drive the driven ring and move and extrude the sucking disc, when the stripper bar motion, the driven ring can drive connecting rod extrusion slide ring, thereby make the discharge that gas in the sucking disc can be faster, let the sucking disc can be faster adsorb with the work piece, the follow-up extrusion motion to the driven ring of stripper bar then can make the connecting rod move on the sucking disc simultaneously, thereby guarantee that the gas in the sucking disc all discharges completely, better assurance adsorption effect between sucking disc and the work piece, the practicality of device has been increased.

2. This sucking disc with adjustable be used for parallel manipulator uses through controlling means, when adsorbing the work piece, the setting that stretches out the piece then can carry on spacingly to the slide bar, guarantees when the cylinder drives the slide bar and moves, thereby the slide bar can not slide along the sliding tray and influence the adsorption efficiency of sucking disc, and the majority setting of extrusion stem and sucking disc simultaneously lets this device compare current ordinary parallel manipulator can adsorb more work pieces, has increased the practicality of device.

3. This sucking disc with adjustable be used for parallel manipulator, structure through the mounting groove is used, when only need adsorbing a work piece, the user can stimulate the slide bar, make the fixture block rotate the stopper, and make stretch out the piece and take in the mounting groove again, just so can let the slide bar be located the slide groove and slide, thereby make the extrusion stem be located same vertical face with the slide bar, then rotate the slide bar, make the fixture block rotate will stretch out the piece again after the stopper and extrude, reset spring then can be the stopper and reset again, play the effect of blockking to the fixture block, the practicality of device has been increased.

Drawings

FIG. 1 is a front view of the main structure of the present invention;

FIG. 2 is a top view of a portion of the main body of the present invention;

FIG. 3 is a top view of a portion of the structure on the connecting ball of the present invention;

FIG. 4 is an enlarged view of the structure at A in FIG. 3 according to the present invention.

In the figure: 1. a connecting seat; 2. a connecting ball; 3. a slide bar; 4. an extrusion stem; 5. a suction cup; 6. a control device; 61. mounting grooves; 62. a clamping block; 63. extruding a spring; 64. a limiting block; 65. a receiving groove; 66. a torsion spring shaft; 67. a return spring; 68. a protruding block; 69. a sliding groove; 7. an auxiliary adsorption device; 71. a driven ring; 72. a slip ring; 73. a connecting rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, an adjustable suction cup for a parallel manipulator comprises a connecting seat 1, a connecting ball 2 is disposed at the lower end of the connecting seat 1, a sliding rod 3 is disposed between the connecting ball 2 and the connecting seat 1, the upper end of the sliding rod 3 is fixedly connected with the connecting seat 1, a control device 6 is disposed on the connecting ball 2, the control device 6 comprises a sliding groove 69, the sliding groove 69 is disposed at a position on the upper surface of the connecting ball 2 corresponding to the sliding rod 3, the sliding rod 3 is movably clamped with the connecting ball 2 in the sliding groove 69, a squeezing rod 4 is disposed at one end of the connecting ball 2 away from the sliding rod 3, a suction cup 5 is disposed at the other end of the squeezing rod 4, the suction cup 5 is fixedly connected with the squeezing rod 4, an auxiliary adsorption device 7 is disposed at one end of the suction cup 5 close to the connecting ball 2, the squeezing rod 4 and the suction cups 5 are three in number, and the same auxiliary adsorption device 7 is disposed on, the three extrusion rods 4 are arranged on the lower half surface of the connecting ball 2 at equal intervals, the size of the sliding groove 69 is twice that of the sliding rod 3, the opening direction of the sliding groove 69 and the direction of one extrusion rod 4 are arranged on the same front and back surfaces, the control device 6 also comprises a fixture block 62, the fixture block 62 is arranged on the side wall of the sliding rod 3, the position of the fixture block 62 is opposite to that of the sliding groove 69, the fixture block 62 is arranged by penetrating through the side wall of the connecting ball 2, a mounting groove 61 is arranged in the side wall of the connecting ball 2 corresponding to the fixture block 62, the mounting groove 61 is an oval annular groove, the position of the mounting groove 61 corresponding to the fixture block 62 is communicated with the sliding groove 69, the other end of the mounting groove 61 is arranged in the opening direction of the sliding groove 69 and penetrates through the sliding groove 69 at the position matched with the diameter of the sliding rod 3, the extruding spring 63 is fixedly connected with the fixture block 62, the other end of the extruding spring 63 is provided with an extending block 68, the extending block 68 is fixedly connected with the extruding spring 63, the width of the extending block 68 is matched with the width of the installation groove 61, the wall surface of the installation groove 61, which is positioned at the right side of the initial position of the fixture block 62, is provided with a limiting block 64, the limiting block 64 is in a triangular prism shape, the position, corresponding to the limiting block 64, of the inner wall of the installation groove 61 is provided with an accommodating groove 65, the size of the accommodating groove 65 is matched with that of the limiting block 64, one end, close to the initial position of the fixture block 62, of the limiting block 64 is provided with a torsion spring shaft 66, the limiting block 64 is movably connected with the inner wall of the installation groove 61 through the torsion spring shaft 66, a return spring 67 is arranged in the accommodating groove 65, one end of the return spring 67 is fixedly connected with the wall, the utility model discloses a flexible extrusion device, including extrusion stem 4, driven ring 71, connecting rod 73 and connecting ball 72, extrusion stem 4 is elastic telescopic rod, and fixed connection between 4 expansion ends of extrusion stem and the connecting ball 2, fixed connection between 4 stiff ends of extrusion stem and sucking disc 5, supplementary adsorption equipment 7 includes driven ring 71, fixed connection between driven ring 71 and the 4 expansion ends of extrusion stem, and driven ring 71 is located the one side of keeping away from the stiff end on the 4 expansion ends of extrusion stem, be provided with slip ring 72 on the wall of sucking disc 5 is close to one side of extrusion stem 4, slip ring 72 diameter is half of sucking disc 5 diameter, be provided with connecting rod 73 between driven ring 71 and the slip ring 72, connecting rod 73 is two in quantity, two connecting rods 73 are located fixed connection between the symmetrical both ends and the driven ring 71 on the.

When the device is used, the air cylinder is connected with the connecting seat 1, at the moment, the connecting seat 1 can drive the connecting ball 2, the sliding rod 3 and the extrusion rod 4 to move and extrude towards a workpiece, because of the structural relation of the extrusion rod 4, the extrusion rod 4 can drive the driven ring 71 to move and extrude the sucker 5, when the extrusion rod 4 moves, the driven ring 71 can drive the connecting rod 73 to extrude the sliding ring 72, so that the gas in the sucker 5 can be discharged more quickly, the sucker 5 can adsorb the workpiece more quickly, meanwhile, the subsequent extrusion movement of the extrusion rod 4 to the driven ring 71 can drive the connecting rod 73 to move on the sucker 5, so that the gas in the sucker 5 can be completely discharged, the adsorption effect between the sucker 5 and the workpiece is better ensured, the practicability of the device is increased, when the workpiece is adsorbed, the arrangement of the extension block 68 can limit the sliding rod 3, ensures that when the cylinder drives the sliding rod 3 to move, the sliding rod 3 can not slide along the sliding groove 69 to influence the adsorption effect of the sucking disc 5, meanwhile, the arrangement of the extrusion rod 4 and the sucker 5 enables the device to adsorb more workpieces compared with the prior common parallel manipulator, thereby increasing the practicability of the device, when only one workpiece needs to be adsorbed, a user can pull the sliding rod 3 to enable the fixture block 62 to rotate through the limiting block 64, and the protruding block 68 is re-received in the mounting groove 61, so that the slide bar 3 is positioned in the slide groove 69 to slide, thereby the pressing bar 4 is positioned on the same vertical plane as the slide bar 3, then the sliding rod 3 is rotated, so that the protruding block 68 is extruded again after the clamping block 62 rotates the limiting block 64, the return spring 67 can be used for resetting the limiting block 64 again, so that the clamping block 62 is blocked, and the practicability of the device is improved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a sucking disc with adjustable be used for parallel manipulator, includes connecting seat (1), its characterized in that: the lower end of the connecting seat (1) is provided with a connecting ball (2), a sliding rod (3) is arranged between the connecting ball (2) and the connecting seat (1), the upper end of the sliding rod (3) is fixedly connected with the connecting seat (1), the connecting ball (2) is provided with a control device (6), the control device (6) comprises a sliding groove (69), the sliding groove (69) is arranged on the upper surface of the connecting ball (2) and corresponds to the position of the sliding rod (3), and the sliding rod (3) is positioned in the sliding groove (69) and movably clamped between the connecting balls (2), the end, far away from the sliding rod (3), of the connecting ball (2) is provided with an extrusion rod (4), the other end of the extrusion rod (4) is provided with a sucker (5), the sucker (5) is fixedly connected with the extrusion rod (4), and one end, close to the connecting ball (2), of the sucker (5) is provided with an auxiliary adsorption device (7).

2. The adjustable chuck of claim 1, wherein: the quantity of the extrusion rods (4) and the suckers (5) is three, the same auxiliary adsorption devices (7) are arranged on each sucker (5) in the same mode, the three extrusion rods (4) are located on the lower half face of the connecting ball (2) and are arranged at equal intervals, the size of each sliding groove (69) is twice that of each sliding rod (3), and the direction of each sliding groove (69) is arranged on the same front face and the back face along with the direction of one extrusion rod (4).

3. The adjustable chuck of claim 2, wherein: the control device (6) further comprises a clamping block (62), the clamping block (62) is positioned on the side wall of the sliding rod (3), the position of the clamping block (62) is opposite to the opening direction of the sliding groove (69), the clamping block (62) penetrates through the side wall of the connecting ball (2) and is arranged, an installation groove (61) is formed in the side wall of the connecting ball (2) and corresponds to the clamping block (62), the installation groove (61) is an annular groove formed in an oval shape, the position, corresponding to the clamping block (62), of the installation groove (61) is communicated with the sliding groove (69), the other end of the installation groove (61) is positioned at the position, in the opening direction of the sliding groove (69), of which the position is matched with the diameter of the sliding rod (3) in size, and penetrates through the sliding groove (69) to be formed, an extrusion spring (63) is arranged on one side, in the opening direction, of the clamping, the other end of the extrusion spring (63) is provided with an extension block (68), the extension block (68) is fixedly connected with the extrusion spring (63), and the width of the extension block (68) is matched with that of the installation groove (61).

4. The adjustable chuck of claim 3, wherein: be provided with stopper (64) on the wall that lies in fixture block (62) initial position right side in mounting groove (61), stopper (64) are the triangular prism form, the groove (65) have been seted up with stopper (64) corresponding position on mounting groove (61) inner wall and have been accomodate, accomodate groove (65) size and stopper (64) looks adaptation, the one end that stopper (64) is close to fixture block (62) initial position is provided with torsional spring axle (66), swing joint between stopper (64) through torsional spring axle (66) and mounting groove (61) inner wall, be provided with reset spring (67) in accomodating groove (65), fixed connection between reset spring (67) one end and stopper (64) one side wall face that is close to accomodate groove (65), reset spring (67) other end and mounting groove (61) are seted up the direction and are opposite direction and accomodate fixed connection between groove (65) inner wall.

5. The adjustable chuck of claim 1, wherein: the extrusion rod (4) is an elastic telescopic rod, the movable end of the extrusion rod (4) is fixedly connected with the connecting ball (2), and the fixed end of the extrusion rod (4) is fixedly connected with the sucker (5).

6. The adjustable chuck for a parallel robot as claimed in claim 2 or 5, wherein: the auxiliary adsorption device (7) comprises a driven ring (71), the driven ring (71) is fixedly connected with the movable end of the extrusion rod (4), the driven ring (71) is located on the movable end of the extrusion rod (4) and far away from one side of the fixed end, a sliding ring (72) is arranged on one side wall face, close to the extrusion rod (4), of the sucker (5), the diameter of the sliding ring (72) is half of that of the sucker (5), connecting rods (73) are arranged between the driven ring (71) and the sliding ring (72), the number of the connecting rods (73) is two, the two connecting rods (73) are located between two symmetrical ends of the driven ring (71) and the driven ring (71), and the other ends of the connecting rods (73) are fixedly connected with the corresponding positions on the sliding ring (72).