CN113753577A

CN113753577A - Flexible sucker manipulator

Info

Publication number: CN113753577A
Application number: CN202111209710.1A
Authority: CN
Inventors: 温鑫; 朱育麟
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-10-18
Filing date: 2021-10-18
Publication date: 2021-12-07

Abstract

The invention provides a flexible sucker manipulator, and relates to the field of manipulators. This flexible sucking disc manipulator, including portal frame and backup pad, the equal fixed connection of lower extreme of gag lever post is at the upside both ends in U type groove, the left end drive end of motor runs through the right side middle part and the two-way threaded rod of fixedly connected with in U type groove, the thread bush and then the equal fixedly connected with slide cartridge of lower extreme of gag lever post, the equal fixedly connected with metal ball of lower extreme of slide bar, the equal fixed connection of lower extreme of atomizing spray gun is in the upper end of stock solution storehouse, the equal fixed connection of lower extreme of air gun is in the upper end of gas injection storehouse. Drive two-way threaded rod through the motor and rotate, and then drive the sucking disc body position removal of both sides, realized that the interval between the sucking disc body is adjustable to wash the sucking disc body through regularly, realized adsorbing and snatch the in-process, the condition that the object can not drop and break takes place.

Description

Flexible sucker manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a flexible sucker manipulator.

Background

In the modern life, the most advanced technology is in the form of a new moon, and the most important difference between the mechanical arm and the human arm is in flexibility and endurance. The manipulator can repeatedly do the same action with the greatest advantage, and the manipulator can never feel tired under the normal condition of the machine, the application of the manipulator can be more and more extensive, the manipulator is high-tech automatic production equipment developed in recent decades, and the operation accuracy and the operation capability in the environment are completed.

Flexible sucking disc manipulator is one of the manipulator, current flexible sucking disc manipulator, mainly there are following two shortcomings, firstly, the interval and the angle of sucking disc can not be adjusted, the flexibility leads to sucking disc manipulator not being applicable to adsorb different objects, secondly, the belt cleaning device who does not set up the sucking disc, when using the sucking disc to adsorb the object, often can be infected with the dust debris etc. on the object, lead to when carrying out next time the absorption and snatch, because be infected with too much dust debris on the sucking disc, lead to the adsorption efficiency poor, and then cause the unable article of adsorbing of sucking disc, or snatch the condition that the in-process drops adsorbing.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a flexible sucker manipulator, which solves the problems that the distance and the angle of suckers of the flexible sucker manipulator cannot be adjusted, and dust on the suckers cannot be removed in time, so that objects cannot be adsorbed.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: a flexible sucker manipulator comprises a portal frame and a supporting plate, wherein the upper end and the lower end of the front side of the portal frame are fixedly connected with an X-direction driving shaft, the side surface of a front side driving slider of the X-direction driving shaft is fixedly connected to the rear side of a limiting plate, the left end and the right end of the front side of the limiting plate are fixedly connected with a Z-direction driving shaft, the side surface of a front side driving slider of the Z-direction driving shaft is fixedly connected to the rear side of a supporting rod, both ends of the lower side of the supporting rod are fixedly connected with limiting rods, the lower ends of the limiting rods are fixedly connected to both ends of the upper side of a U-shaped groove, the right side of the U-shaped groove is fixedly connected with a motor, a left end driving end of the motor penetrates through the middle part of the right side of the U-shaped groove and is fixedly connected with a bidirectional threaded rod, the left end of the bidirectional threaded rod is rotatably connected to the middle part of the inner left side of the U-shaped groove through a bearing, the peripheries of both ends of the bidirectional threaded rod are in threaded connection with threaded sleeves, the middle part of the bidirectional threaded rod is rotatably connected with a limiting sleeve, the thread sleeve and the lower end of the limiting sleeve are fixedly connected with a sliding barrel, a sliding rod is slidably connected in an opening at the lower end of the sliding barrel, a metal ball is fixedly connected at the lower end of the sliding rod, the periphery of the lower end of the metal ball is rotatably connected in an opening at the upper end of the limiting part, a liquid storage bin is fixedly connected in the middle of the upper end of the supporting plate, a water pump is arranged in the middle of the inner bottom wall of the liquid storage bin, the upper water outlet end of the water pump is fixedly connected to the lower end of a flow guide pipe, the upper end of the flow guide pipe penetrates through the upper side of the liquid storage bin and is communicated with the lower end of an atomizing spray gun, the lower end of the atomizing spray gun is fixedly connected to the upper end of the liquid storage bin, an air spraying bin is fixedly connected to the front end of the upper side of the supporting plate, an air pump is arranged in the middle of the inner bottom wall of the air spraying bin, and the upper air outlet end of the air pump is fixedly connected to the lower end of the air guide pipe, the upper end of air duct all runs through the upper end in gas spraying storehouse and communicates with the lower extreme of air gun, the equal fixed connection of lower extreme of air gun is in the upper end in gas spraying storehouse.

Preferably, the lower side in the opening of portal frame all is fixed connection in the drive slider side in the Y drive axle, the one side that the Y drive axle is close to all fixed connection in the left and right sides upper end of support frame.

Preferably, the middle part of the front side of the support rod is fixedly connected with a vacuum pump, and the lower end suction end of the vacuum pump is fixedly connected with a vacuum suction pipe.

Preferably, the lower end of the limiting part is fixedly connected with a sucker body, and the middle of the front side of the sucker body is communicated with the lower end of the vacuum sucker.

Preferably, the upper portion of the threaded sleeve is connected to two sides of the middle portion of the inner top wall of the U-shaped groove in a sliding mode, and the upper end of the limiting sleeve is fixedly connected to the middle portion of the inner top wall of the U-shaped groove.

Preferably, the inner top wall of the sliding cylinder is fixedly connected with a spring, and the lower end of the spring is fixedly connected to the upper end of the sliding rod.

Preferably, the right side of the upper end of the liquid storage bin is provided with a liquid inlet, and the upper end of the liquid inlet is provided with a round cover.

Preferably, the left side opening and the right side opening of the air injection bin are fixedly connected with dustproof filter screens.

The working principle is as follows: firstly, starting Y-direction driving shafts on two sides of a supporting frame to drive a portal frame to move back and forth, starting an X-direction driving shaft on the front side of the portal frame to drive a limiting plate to move left and right, then starting a Z-direction driving shaft to drive a sucker body at the lower end of a U-shaped groove to move up and down to the upper part of an object to be sucked and grabbed through a supporting rod and a limiting rod, starting a vacuum pump, pumping air in the sucker body through a vacuum sucker to suck the object, moving the object to a specified position through the X-direction driving shaft, the Y-direction driving shaft and the Z-direction driving shaft, starting the vacuum pump, inflating the sucker body to finish discharging, enabling a sliding rod, a sliding cylinder and a spring on the vacuum sucker to have a buffer distance when the sucker body falls down, playing a role of protecting the sucker body, and starting a motor on the right side of the U-shaped groove when objects with different sizes need to be sucked and grabbed, the motor is turned off to lock the position of the thread sleeve when the proper position is reached, so that the space between the sucker bodies can be adjusted, objects with different sizes can be sucked and grabbed, the metal ball at the lower end of the slide rod rotates in the limiting part, so that the sucker bodies can stably suck and grab the objects when sucking and grabbing the objects, when the sucker bodies are polluted by dust due to the fact that the objects are sucked and grabbed, the motor is started to adjust the sucker bodies to the same position as the space between the atomizing spray guns on the liquid storage bin, the suckers are moved to the upper parts of the atomizing spray guns through the X-direction driving shaft, the Y-direction driving shaft and the Z-direction driving shaft, the water pump is started, cleaning liquid in the liquid storage bin is sprayed to the inner part of the lower end of the sucker bodies through the guide pipe, and then passes through the Y-direction driving shaft, remove the sucking disc body to the upper portion of air gun, start the air pump in the jet-propelled storehouse, blow off the inside washing liquid intercommunication dust of sucking disc body lower extreme and debris through air duct and air gun together, realized can preventing to accumulate too much dust and debris on the sucking disc body and lead to unable absorption to snatch the object or snatch the in-process adsorbing, the object drops and the condition of breaking takes place.

(III) advantageous effects

The invention provides a flexible sucker manipulator. The method has the following beneficial effects:

1. the motor drives the bidirectional threaded rod to rotate, so that the threaded sleeves on the two sides are close to or far away from the U-shaped groove, when the proper position is reached, the motor is turned off, the position of the threaded sleeves is locked, the space between the sucker bodies can be adjusted, objects with different sizes can be sucked and grabbed, and the angle can be adjusted when the sucker bodies suck and grab objects by rotating the metal balls at the lower ends of the sliding rods in the limiting pieces, so that the objects can be stably sucked and grabbed.

2. According to the invention, the sucker is moved to the upper part of the atomizing spray gun, the water pump is started, the cleaning liquid in the liquid storage bin is sprayed into the lower end of the sucker body through the guide pipe, the Y-direction driving shaft is started, the sucker body is moved to the upper part of the air gun, the air pump in the air spraying bin is started, and the cleaning liquid in the lower end of the sucker body is communicated with dust and sundries and blown out together through the air guide pipe and the air gun, so that the situation that the object cannot be sucked and grabbed due to the fact that the excessive dust and sundries are accumulated on the sucker body or the object falls off and is broken in the sucking and grabbing process can be prevented.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is an internal structural view of the suction cup adjustment mechanism of the present invention;

FIG. 3 is a view showing the internal structure of the liquid storage tank according to the present invention;

FIG. 4 is a view showing the internal structure of the jet chamber according to the present invention;

FIG. 5 is a side view of the present invention;

fig. 6 is an enlarged view of a portion a in fig. 2.

Wherein, 1, a support frame; 2. a Y-direction drive shaft; 3. a gantry; 4. an X-direction drive shaft; 5. a limiting plate; 6. a Z-direction drive shaft; 7. a support bar; 8. a limiting rod; 9. a U-shaped groove; 10. a motor; 11. a bidirectional threaded rod; 12. a bearing; 13. a threaded sleeve; 14. a limiting sleeve; 15. a slide cylinder; 16. a spring; 17. a slide bar; 18. a metal ball; 19. a limiting member; 20. a suction cup body; 21. a vacuum pump; 22. a vacuum suction pipe; 23. a support plate; 24. a liquid storage bin; 25. a water pump; 26. a flow guide pipe; 27. an atomizing spray gun; 28. an air injection bin; 29. a dustproof filter screen; 30. an air pump; 31. an air duct; 32. an air gun; 33. a liquid inlet; 34. and (4) a round cover.

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.

Example (b):

as shown in fig. 1-6, an embodiment of the present invention provides a flexible sucker manipulator, which includes a portal frame 3 and a supporting plate 23, wherein upper and lower ends of a front side of the portal frame 3 are fixedly connected with an X-direction driving shaft 4, side surfaces of front side driving sliders of the X-direction driving shaft 4 are fixedly connected to a rear side of a limiting plate 5, left and right ends of the front side of the limiting plate 5 are fixedly connected with a Z-direction driving shaft 6, side surfaces of front side driving sliders of the Z-direction driving shaft 6 are fixedly connected to a rear side of a supporting rod 7, both ends of a lower side of the supporting rod 7 are fixedly connected with limiting rods 8, lower ends of the limiting rods 8 are fixedly connected to both ends of an upper side of a U-shaped groove 9, a right side of the U-shaped groove 9 is fixedly connected with a motor 10, a left end driving end of the motor 10 penetrates through a right middle portion of the U-shaped groove 9 and is fixedly connected with a bidirectional threaded rod 11, a left end of the bidirectional threaded rod 11 is rotatably connected to a middle portion of an inner left side of the U-shaped groove 9 through a bearing 12, the peripheries of two ends of the middle part of a bidirectional threaded rod 11 are all in threaded connection with threaded sleeves 13, the middle part of the bidirectional threaded rod 11 is in rotary connection with a limiting sleeve 14, the threaded sleeves 13 and the lower end of the limiting sleeve 14 are all fixedly connected with sliding cylinders 15, the lower end openings of the sliding cylinders 15 are all in sliding connection with sliding rods 17, the lower ends of the sliding rods 17 are all in fixed connection with metal balls 18, the peripheries of the lower ends of the metal balls 18 are all in rotary connection with the upper end openings of limiting parts 19, Y-direction driving shafts 2 on two sides of a supporting frame 1 are started, a portal frame 3 is driven to move back and forth, an X-direction driving shaft 4 on the front side of the portal frame 3 is started, a limiting plate 5 is driven to move left and right, a Z-direction driving shaft 6 is started again, a sucking disc body 20 on the lower end of a U-shaped groove 9 is driven to move up and down to the upper part of an object required to be sucked through a supporting rod 7 and a limiting rod 8, a vacuum pump 21 is started, air in the sucking disc body 20 is pumped out through a vacuum sucking tube 22, the suction cup can suck and grab objects, the objects are moved to a designated position through an X-direction driving shaft 4, a Y-direction driving shaft 2 and a Z-direction driving shaft 6, a vacuum pump 21 is started to inflate the suction cup body 20 to complete emptying, a sliding rod 17, a sliding barrel 15 and a spring 16 on the vacuum suction cup can ensure that the suction cup body 20 has a buffer distance when falling, the suction cup body 20 is protected, when the suction cup needs to suck and grab objects with different sizes, a motor 10 on the right side of a U-shaped groove 9 is started, a bidirectional threaded rod 11 is driven to rotate, so that threaded sleeves 13 on two sides are close to or far away from each other in the U-shaped groove 9, when a proper position is reached, the motor 10 is closed, the position of the threaded sleeve 13 is locked, the distance between the suction cup bodies 20 is adjustable, the suction cup can grab objects with different sizes, and a metal ball 18 at the lower end of the sliding rod 17 rotates in a limiting part 19, the angle can be adjusted when the sucker body 20 is used for sucking and grabbing objects, the objects can be stably sucked and grabbed, the middle part of the upper end of the supporting plate 23 is fixedly connected with the liquid storage bin 24, the middle part of the inner bottom wall of the liquid storage bin 24 is provided with the water pump 25, the upper end water outlet end of the water pump 25 is fixedly connected with the lower end of the flow guide pipe 26, the upper end of the flow guide pipe 26 penetrates through the upper side of the liquid storage bin 24 and is communicated with the lower end of the atomizing spray gun 27, the lower end of the atomizing spray gun 27 is fixedly connected with the upper end of the liquid storage bin 24, the front end of the upper side of the supporting plate 23 is fixedly connected with the air spraying bin 28, the middle part of the inner bottom wall of the air spraying bin 28 is provided with the air pump 30, the upper end air outlet end of the air pump 30 is fixedly connected with the lower end of the air guide pipe 31, the upper end of the air guide pipe 31 penetrates through the upper end of the air spraying bin 28 and is communicated with the lower end of the air spraying gun 32, the lower end of the air spraying bin 32 is fixedly connected with the upper end of the air pump 28, when the sucker body 20 is stained with dust due to suck and grab the objects, starter motor 10, adjust sucking disc body 20 to with the stock solution storehouse 24 on the atomizing spray gun 27 interval same position, again through X to drive shaft 4, Y is to drive shaft 2 and Z to drive shaft 6, move the sucking disc to the upper portion of atomizing spray gun 27, start water pump 25, through inside the lower extreme of honeycomb duct 26 with the washing liquid spout in the stock solution storehouse 24 to sucking disc body 20, rethread Y is to drive shaft 2, move sucking disc body 20 to the upper portion of air gun 32, start the air pump 30 in the air spray storehouse 28, blow off sucking disc body 20 inside washing liquid intercommunication dust and debris of lower extreme through air duct 31 and air gun 32 together, realized can prevent that to accumulate too much dust and debris on sucking disc body 20 and lead to unable absorption and snatch the object or snatch the in-process adsorbing, the object drops and the condition of breaking takes place.

The lower side in the opening of portal frame 3 all is fixed connection in the drive slider side in Y to drive shaft 2, and the one side that Y is close to drive shaft 2 all is fixed connection in the left and right sides upper end of support frame 1, makes portal frame 3 can follow Y axle back-and-forth movement.

The vacuum pump 21 is fixedly connected to the middle of the front side of the supporting rod 7, the vacuum suction pipe 22 is fixedly connected to the lower end of the vacuum pump 21, the position of the vacuum pump 21 is fixed, and the suction force is provided for the suction cup body 20, so that the suction cup body 20 can suck and grab objects.

The lower ends of the limiting pieces 19 are fixedly connected with a sucker body 20, and the middle part of the front side of the sucker body 20 is communicated with the lower end of a vacuum suction pipe 22, so that the sucker body 20 is communicated with a vacuum pump 21.

The equal sliding connection in the interior roof middle part both sides of U type groove 9 in upper portion of thread bush 13, the upper end fixed connection of stop collar 14 is in the interior roof middle part of U type groove 9, makes the thread bush 13 of both sides can slide in U type groove 9 to make the inside middle part of stop collar 14 position locking in U type groove 9.

The inner top wall of the sliding cylinder 15 is fixedly connected with a spring 16, the lower end of the spring 16 is fixedly connected with the upper end of a sliding rod 17, so that the sucker body 20 has a buffer distance when falling, and the sliding rod 17 can reset in the sliding cylinder 15.

A liquid inlet 33 is arranged on the right side of the upper end of the liquid storage bin 24, and a round cover 34 is arranged on the upper end of the liquid inlet 33, so that cleaning liquid can be conveniently added into the liquid storage bin 24.

The interior dustproof filter screen 29 that all fixedly connected with of opening of the left and right sides of gas injection storehouse 28 prevents that the dust from getting into gas injection storehouse 28, leads to inhaling the dust in the air pump 30 and leads to spouting inside the lower extreme of sucking disc body 20, causes secondary pollution.

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 flexible sucking disc manipulator, includes portal frame (3) and backup pad (23), its characterized in that: the upper end and the lower end of the front side of the portal frame (3) are fixedly connected with an X-direction driving shaft (4), the side face of a front side driving slider of the X-direction driving shaft (4) is fixedly connected to the rear side of the limiting plate (5), the left end and the right end of the front side of the limiting plate (5) are fixedly connected with a Z-direction driving shaft (6), the side face of a front side driving slider of the Z-direction driving shaft (6) is fixedly connected to the rear side of the supporting rod (7), both ends of the lower side of the supporting rod (7) are fixedly connected with limiting rods (8), the lower end of each limiting rod (8) is fixedly connected to both ends of the upper side of a U-shaped groove (9), the right side of the U-shaped groove (9) is fixedly connected with a motor (10), the left end driving end of the motor (10) penetrates through the middle part of the right side of the U-shaped groove (9) and is fixedly connected with a bidirectional threaded rod (11), the left end of the bidirectional threaded rod (11) is rotatably connected to the middle part of the inner left side of the U-shaped groove (9) through a bearing (12), the middle part of the two-way threaded rod (11) is connected with a threaded sleeve (13) in a threaded manner at the two ends of the middle part, the middle part of the two-way threaded rod (11) is connected with a limit sleeve (14) in a rotating manner, the threaded sleeve (13) and then the lower end of the limit sleeve (14) are fixedly connected with a sliding barrel (15), a sliding rod (17) is connected in a sliding manner in an opening at the lower end of the sliding barrel (15), a metal ball (18) is fixedly connected at the lower end of the sliding rod (17), the lower end of the metal ball (18) is connected in an opening at the upper end of a limit part (19) in a rotating manner at the outer periphery of the lower end of the metal ball (18), a liquid storage bin (24) is fixedly connected in the middle of the upper end of a support plate (23), a water pump (25) is arranged in the middle of the inner bottom wall of the liquid storage bin (24), the upper end of the water pump (25) is fixedly connected at the lower end of a guide pipe (26), the upper end of the guide pipe (26) penetrates through the upper side of the liquid storage bin (24) and is communicated with the lower end of an atomizing spray gun (27), the equal fixed connection of lower extreme of atomizing spray gun (27) is in the upper end of stock solution storehouse (24), the upside front end fixedly connected with of backup pad (23) spouts gas storehouse (28), the interior diapire middle part that spouts gas storehouse (28) is provided with air pump (30), the upper end of air pump (30) is given vent to anger the lower extreme of fixed connection at air duct (31), the upper end of air duct (31) all run through the upper end in spouting gas storehouse (28) and communicate with the lower extreme of air-jet gun (32), the equal fixed connection of lower extreme of air-jet gun (32) is in the upper end in spouting gas storehouse (28).

2. A flexible chuck robot as claimed in claim 1, wherein: the lower side in the opening of portal frame (3) all is fixed connection in Y to the drive slider side in drive shaft (2), Y is all fixed connection in the upper end of controlling the side of support frame (1) to the one side that drive shaft (2) are close to mutually.

3. A flexible chuck robot as claimed in claim 1, wherein: the middle part of the front side of the support rod (7) is fixedly connected with a vacuum pump (21), and the lower end air suction end of the vacuum pump (21) is fixedly connected with a vacuum suction pipe (22).

4. A flexible chuck robot as claimed in claim 1, wherein: the lower end of the limiting part (19) is fixedly connected with a sucker body (20), and the middle of the front side of the sucker body (20) is communicated with the lower end of a vacuum suction pipe (22).

5. A flexible chuck robot as claimed in claim 1, wherein: the upper portion of the threaded sleeve (13) is connected to two sides of the middle portion of the inner top wall of the U-shaped groove (9) in a sliding mode, and the upper end of the limiting sleeve (14) is fixedly connected to the middle portion of the inner top wall of the U-shaped groove (9).

6. A flexible chuck robot as claimed in claim 1, wherein: the inner top wall of the sliding cylinder (15) is fixedly connected with a spring (16), and the lower end of the spring (16) is fixedly connected to the upper end of the sliding rod (17).

7. A flexible chuck robot as claimed in claim 1, wherein: the upper end right side of stock solution storehouse (24) is provided with inlet (33), the upper end of inlet (33) is provided with dome (34).

8. A flexible chuck robot as claimed in claim 1, wherein: the left side opening and the right side opening of the air injection bin (28) are fixedly connected with dustproof filter screens (29).