CN114918963A - Sucker mechanism and truss manipulator - Google Patents
Sucker mechanism and truss manipulator Download PDFInfo
- Publication number
- CN114918963A CN114918963A CN202210611269.8A CN202210611269A CN114918963A CN 114918963 A CN114918963 A CN 114918963A CN 202210611269 A CN202210611269 A CN 202210611269A CN 114918963 A CN114918963 A CN 114918963A
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- Prior art keywords
- suction cup
- assembly
- sucker
- lifting
- spring
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention provides a sucker mechanism and a truss manipulator, wherein the sucker mechanism comprises a sucker seat, a first sucker component, a second sucker component and a lifting component, the first sucker component and the lifting component are respectively detachably connected to the sucker seat, the second sucker component is detachably connected to the lifting component, and the lifting component is used for driving the second sucker component to lift; when the lifting assembly drives the second sucker assembly to descend below the first sucker assembly, the second sucker assembly is used for grabbing bent workpieces, and when the lifting assembly drives the second sucker assembly to ascend to the position, on the same plane, with the first sucker assembly, the first sucker assembly is used for grabbing flat workpieces, or the first sucker assembly and the second sucker assembly are jointly used for grabbing flat workpieces. The sucker mechanism disclosed by the invention can be suitable for grabbing different types of workpieces, the grabbing requirement of the sucker mechanism is effectively improved, the manual disk matching operation is not needed, and the manpower is saved.
Description
Technical Field
The invention relates to the technical field of material sorting, in particular to a sucker mechanism and a truss manipulator.
Background
In the discrete manufacturing industry, the storage and matching of materials are an important link of workshop production. In a traditional manufacturing workshop, a truss mechanical arm is usually matched with an automatic sucker to sort and match materials, and then the materials are delivered to a designated station by a transport vehicle.
Due to the fact that engineering vehicles such as pump trucks or heavy trucks are fast to update and have more product types, materials of a plurality of production lines need to be stored in a large vertical warehouse, and for one sucker mechanism, the sucker mechanism is usually only suitable for grabbing a certain type of workpieces, for example, the sucker mechanism for grabbing flat workpieces cannot grab bent workpieces, and the sucker mechanism for grabbing bent workpieces cannot grab flat workpieces. Therefore, when a large vertical warehouse is subjected to material sorting and disc distribution, a plurality of sucking disc mechanisms are required to be arranged for realizing the sorting and disc distribution, so that the production cost is high, and a large operation field is required.
Disclosure of Invention
The invention solves the problems that: how to enable a truss manipulator to realize automatic sorting and distributing of flat workpieces and bent workpieces through a set of sucker mechanisms.
In order to solve the problems, the invention provides a sucker mechanism which is applied to a truss manipulator and comprises a sucker seat, a first sucker component, a second sucker component and a lifting component, wherein the first sucker component and the lifting component are respectively detachably connected to the sucker seat, the second sucker component is detachably connected to the lifting component, and the lifting component is used for driving the second sucker component to lift; when the lifting assembly drives the second sucker assembly to descend below the first sucker assembly, the second sucker assembly is used for grabbing bent workpieces, and when the lifting assembly drives the second sucker assembly to ascend to be located on the same plane with the first sucker assembly, the first sucker assembly is used for grabbing flat workpieces, or the first sucker assembly and the second sucker assembly are jointly used for grabbing the flat workpieces.
Optionally, the second sucker assembly is located on one side of the first sucker assembly in the horizontal direction.
Optionally, the second sucker component comprises a second sucker and a sucker support, the second sucker is detachably connected to the sucker support, the sucker support is detachably connected to the lifting component, and the lifting component drives the sucker support to lift.
Optionally, a through hole is formed in the sucker seat, and when the lifting assembly drives the second sucker assembly to ascend to the position, on the same plane, as the first sucker assembly, the sucker support is arranged in the through hole.
Optionally, the second sucker comprises a sucker body and a connecting rod, the connecting rod is connected with the sucker support, and the sucker body is connected to one end of the connecting rod and located below the sucker support.
Optionally, the second sucking disc still includes first spring and second spring, the connecting rod passes sucking disc leg joint in on the sucking disc body, first spring with the second spring is established respectively the cover is established on the connecting rod, and is located respectively the both sides of sucking disc support, the both ends of first spring respectively with the connecting rod with sucking disc leg joint, the both ends of second spring respectively with the sucking disc body with sucking disc leg joint, just first spring is in compression state, the second spring is in tensile state.
Optionally, the second sucker further comprises an adjusting nut, the adjusting nut is in threaded connection with one end, away from the sucker body, of the connecting rod, and one end, away from the sucker support, of the first spring is abutted to the adjusting nut.
Optionally, a plurality of the second suckers are located on the same straight line of the same plane and are arranged at intervals.
Optionally, the lifting assembly comprises a driving cylinder and a guide rod, a cylinder body of the driving cylinder is connected to the sucker seat, a piston rod of the driving cylinder is connected to the second sucker assembly, and the guide rod penetrates through the sucker seat and is connected to the second sucker assembly.
In order to solve the above problems, the present invention further provides a truss manipulator, including the above sucker mechanism.
Compared with the prior art, the sucker mechanism has the advantages that the sucker seat is arranged, and the first sucker component and the lifting component are detachably connected with the sucker seat respectively to provide mounting positions for the first sucker component and the lifting component, so that the first sucker component and the lifting component are fixedly mounted; by arranging the second sucker component and detachably connecting the second sucker component to the lifting component, when various workpieces are sorted and matched, if a flat workpiece is required to be grabbed, the second sucker component can be driven by the lifting component to ascend to the same plane as the first sucker component, so that the flat workpiece can be grabbed by adopting the first sucker component or the combination of the first sucker component and the second sucker component, and if a bent workpiece is required to be grabbed, the second sucker component can be driven by the lifting component to descend below the first sucker component, so that the bent workpiece can be grabbed by adopting the second sucker component, the suckers can be automatically switched by the lifting component according to the type of the workpiece required to be grabbed, the automatic sorting and matching can be realized, the sucker mechanism can be suitable for grabbing different types of workpieces, and the grabbing requirements of the sucker mechanism are effectively improved, and need not artifical the operation of joining in marriage the dish, practice thrift the manpower.
Drawings
FIG. 1 is a schematic structural view of a sucker mechanism assembled on a lifting mechanism of a truss manipulator in an embodiment of the invention;
FIG. 2 is a schematic view of another perspective of the chuck mechanism mounted to the lift mechanism of the truss robot in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of another view of the suction cup mechanism mounted to the lift mechanism of the truss robot in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a sucking disc mechanism for grabbing a flat workpiece according to an embodiment of the present invention
FIG. 5 is a schematic structural view illustrating a suction cup mechanism for grasping a U-shaped workpiece according to an embodiment of the present invention;
FIG. 6 is a schematic structural view illustrating a sucking disc mechanism for grabbing an L-shaped workpiece according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a second chuck in accordance with an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of stacking of U-shaped workpieces in the embodiment of the invention;
FIG. 9 is a schematic structural diagram of stacking of L-shaped workpieces in the embodiment of the invention;
FIG. 10 is a front view of a truss robot in an embodiment of the present invention;
FIG. 11 is a top view of a truss robot in an embodiment of the present invention;
figure 12 is a left side view of a truss robot in an embodiment of the present invention.
Description of reference numerals:
100. a suction cup mechanism; 110. a sucker seat; 111. a through hole; 120. a first suction cup assembly; 121. a first suction cup; 130. a second chuck assembly; 131. a second suction cup; 1311. a suction cup body; 1312. a connecting rod; 1313. a first spring; 1314. a second spring; 1315. adjusting the nut; 132. a suction cup holder; 140. a lifting assembly; 141. a drive cylinder; 142. a guide bar; 200. a lifting mechanism; 300. a cross beam; 400. a stringer.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
The Z-axis in the drawings indicates a vertical direction, i.e., an up-down position, and a forward direction of the Z-axis (i.e., an arrow direction of the Z-axis) represents an upward direction and a reverse direction of the Z-axis represents a downward direction; the X-axis in the drawing represents the horizontal direction and is designated as the left-right position, and the forward direction of the X-axis represents the left side and the reverse direction of the X-axis represents the right side; the Y-axis in the drawings is represented as a front-rear position, and a forward direction of the Y-axis represents a front side and a reverse direction of the Y-axis represents a rear side; it should also be noted that the foregoing Z-axis, Y-axis, and X-axis representations are merely intended to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein.
Referring to fig. 1 to 6, a sucker mechanism 100 according to an embodiment of the present invention is applied to a truss robot, where the sucker mechanism 100 includes a sucker base 110, a first sucker component 120, a second sucker component 130, and a lifting component 140, the first sucker component 120 and the lifting component 140 are respectively detachably connected to the sucker base 110, the second sucker component 130 is detachably connected to the lifting component 140, and the lifting component 140 is configured to drive the second sucker component 130 to lift; when the lifting assembly 140 drives the second suction cup assembly 130 to descend below the first suction cup assembly 120, the second suction cup assembly 130 is used for grabbing bent workpieces, and when the lifting assembly 140 drives the second suction cup assembly 130 to ascend to be located on the same plane with the first suction cup assembly 120, the first suction cup assembly 120 is used for grabbing flat workpieces, or the first suction cup assembly 120 and the second suction cup assembly 130 are used for grabbing flat workpieces together.
Specifically, when the second chuck assembly 130 and the first chuck assembly 120 are located on the same plane, the first chuck assembly 120 may be used to grasp the flat workpiece, or the first chuck assembly 120 and the second chuck assembly 130 may be used together to grasp the flat workpiece. The bending workpiece mainly comprises an L-shaped workpiece, a U-shaped workpiece and the like, the U-shaped workpiece is generally stacked according to a mode shown in fig. 8, the L-shaped workpiece is generally stacked according to a mode shown in fig. 9, wherein for the U-shaped workpiece, the bottom edge of the U-shaped workpiece opposite to the opening is a plane, and the lengths of two vertical edges can be the same or different. When grabbing an L-shaped workpiece or a U-shaped workpiece with an upward opening, the second chuck assembly 130 needs to extend into the area surrounded by the bent workpiece for grabbing, as shown in fig. 5 and 6. The sucker seat 110 is used for being connected to the bottom of the lifting mechanism 200 of the truss manipulator, when the lifting mechanism 200 drives the sucker mechanism 100 to ascend or descend to a certain position above a workpiece, and then the sucker is switched through the lifting assembly 140 according to the type of the workpiece needing to be grabbed, namely, if the workpiece needing to be grabbed is a flat workpiece, the lifting assembly 140 can drive the second sucker assembly 130 to ascend to be located on the same plane with the first sucker assembly 120, so that the flat workpiece can be grabbed by adopting the first sucker assembly 120 or combining the first sucker assembly 120 with the second sucker assembly 130, and if the workpiece needing to be grabbed is a bent workpiece, the lifting assembly 140 can drive the second sucker assembly 130 to descend to be below the first sucker assembly 120, so that the second sucker assembly 130 is used for grabbing the bent workpiece.
The suction cup mechanism 100 in this embodiment is provided with the suction cup holder 110, and the first suction cup assembly 120 and the lifting assembly 140 are detachably connected with the suction cup holder 110 respectively, so as to provide mounting positions for the first suction cup assembly 120 and the lifting assembly 140, thereby realizing the mounting and fixing of the first suction cup assembly 120 and the lifting assembly 140; by arranging the second suction cup assembly 130 and detachably connecting the second suction cup assembly 130 to the lifting assembly 140, when various workpieces are sorted and matched, if a flat workpiece needs to be grabbed, for example, the second suction cup assembly 130 can be driven by the lifting assembly 140 to ascend to be positioned on the same plane as the first suction cup assembly 120, so that the flat workpiece can be grabbed by adopting the first suction cup assembly 120 or the combination of the first suction cup assembly 120 and the second suction cup assembly 130, if a bent workpiece needs to be grabbed, for example, the second suction cup assembly 130 can be driven by the lifting assembly 140 to descend below the first suction cup assembly 120, so that the bent workpiece can be grabbed by adopting the second suction cup assembly 130, and therefore, the suction cups can be automatically switched by the lifting assembly 140 according to the types of the workpieces to be grabbed, so as to realize automatic sorting and matching, and further enable the suction cup mechanism 100 to be suitable for grabbing different types of workpieces, the grabbing requirement of the sucker mechanism 100 is effectively improved, manual disc matching operation is not needed, and manpower is saved.
Alternatively, as shown in connection with FIG. 1, the second chuck assembly 130 is located on one side of the first chuck assembly 120 in the horizontal direction.
Specifically, the second chuck assembly 130 is generally disposed on the left, right, front, or rear side of the first chuck assembly 120. If the second chuck assembly 130 is disposed at the middle position of the first chuck assembly 120 or a part of the first chuck assembly 120 is used as the second chuck assembly 130, the lifting assembly 140 needs to be disposed between the chuck base 110 and the lifting mechanism 200 of the truss robot, which increases the vertical distance between the chuck base 110 and the lifting mechanism 200 and increases the volume of the lifting mechanism 200 and the chuck mechanism 100 after assembly. When the second chuck assembly 130 is disposed on one side of the first chuck assembly 120 in the horizontal direction, the structures of the first chuck assembly 120 and the lifting mechanism 200 may be changed little or not, and the lifting assembly 140 may be mounted on the chuck base 110 by merely increasing the size of the chuck base 110, and the second chuck assembly 130 may be mounted on the bottom of the lifting assembly 140.
Therefore, in this embodiment, the second chuck assembly 130 is disposed on one side of the first chuck assembly 120 in the horizontal direction, so that the second chuck assembly 130 is added under the condition that the structures of the first chuck assembly 120 and the lifting mechanism 200 are not changed or are changed less, which not only reduces the difficulty of the improvement of the design of the chuck mechanism 100, but also reduces the volume of the assembled chuck mechanism 100 and the lifting mechanism 200.
Optionally, as shown in fig. 1 and 5, the second suction cup assembly 130 includes a second suction cup 131 and a suction cup support 132, the second suction cup 131 is detachably connected to the suction cup support 132, the suction cup support 132 is detachably connected to the lifting assembly 140, and the lifting assembly 140 drives the suction cup support 132 to lift.
Specifically, the second suction cup 131 is usually provided in plurality, and the plurality of second suction cups 131 are uniformly distributed on the suction cup support 132, and the suction cup support 132 is usually detachably connected to the lifting assembly 140 by bolts.
In this embodiment, through setting up sucking disc support 132 to make second sucking disc 131 can dismantle with lifting unit 140 through sucking disc support 132 and be connected, in order to realize dismantling between second sucking disc subassembly 130 and the lifting unit 140 and be connected, simultaneously, also conveniently carry out dismouting and change to second sucking disc 131.
Optionally, as shown in fig. 3, the suction cup holder 110 is provided with a through hole 111, and when the lifting assembly 140 drives the second suction cup assembly 130 to ascend to the same plane as the first suction cup assembly 120, the suction cup bracket 132 is disposed in the through hole 111.
Specifically, the through hole 111 is a through hole structure having a geometric shape such as a circle or a square, and penetrates through the suction cup holder 110 in a vertical direction.
In this way, not only the overall size of the suction cup mechanism 100 can be reduced, but also the flatness of the bottom of the suction cup holder 110 can be maintained, and interference with the components of the first suction cup assembly 120 when the suction cup holder 132 is retracted upward can be avoided.
Alternatively, as shown in fig. 7, the second suction cup 131 includes a suction cup body 1311 and a connection bar 1312, the connection bar 1312 is connected to the suction cup bracket 132, and the suction cup body 1311 is connected to one end of the connection bar 1312 and is located below the suction cup bracket 132.
Specifically, the suction cup body 1311 may be an electromagnet, or may be a vacuum suction cup, and in this embodiment, an electromagnet is preferably used as the suction cup body 1311, so as to reduce the gas path arrangement, and facilitate control. One end of the connecting rod 1312 may be connected to the suction cup bracket 132, and the other end of the connecting rod 1312 may be connected to the suction cup body 1311, or the connecting rod 1312 may pass through the suction cup bracket 132 and be connected to the suction cup body 1311, at this time, the connecting rod 1312 may be fixed on the suction cup bracket 132 and may not move, or may be capable of moving up and down with respect to the suction cup bracket 132 as described later, and is not limited specifically herein.
In this embodiment, the connection between the second suction cup 131 and the suction cup bracket 132 is realized by providing the connection rod 1312 and connecting the suction cup body 1311 to the suction cup bracket 132 through the connection rod 1312.
Optionally, as shown in fig. 7, the second suction cup 131 further includes a first spring 1313 and a second spring 1314, the connection rod 1312 passes through the suction cup bracket 132 and is connected to the suction cup body 1311, the first spring 1313 and the second spring 1314 are respectively sleeved on the connection rod 1312 and are respectively located at two sides of the suction cup bracket 132, two ends of the first spring 1313 are respectively connected to the connection rod 1312 and the suction cup bracket 132, two ends of the second spring 1314 are respectively connected to the suction cup body 1311 and the suction cup bracket 132, the first spring 1313 is in a compressed state, and the second spring 1314 is in a stretched state.
Specifically, the suction cup bracket 132 is sleeved on the connecting rod 1312 and divides the connecting rod 1312 into an upper half and a lower half, the first spring 1313 is sleeved on the upper half of the connecting rod 1312, the second spring 1314 is sleeved on the lower half of the connecting rod 1312, and the connecting rod 1312 can move up and down. The first spring 1313 in a compressed state applies an upward elastic force to the second suction cup 131, and the second spring 1314 in a stretched state also applies an upward elastic force to the second suction cup 131, and the two upward elastic forces can overcome the gravity of the second suction cup 131, so that the second suction cup 131 is balanced in stress under the action of the first spring 1313 and the second spring 1314, and cannot fall due to self weight.
Thus, when the second suction cup 131 receives a vibration impact, it can rock up and down under the action of the first spring 1313 and the second spring 1314 to buffer the vibration impact and remain on the suction cup holder 132 after being stationary without being separated from the suction cup holder 132; moreover, because of the existence of assembly error and/or manufacturing error, there is a certain height difference between each sucker body 1311 more or less, when the sucker body 1311 abuts against the workpiece, under the action of the first spring 1313 and the second spring 1314, the sucker body 1311 can displace in the up-and-down direction to eliminate the gap between the sucker body 1311 and the workpiece, so that the sucker body 1311 is tightly attached to the workpiece, and the grabbing force is firmer, and meanwhile, in the process, the connecting rod 1312 plays a guiding role to prevent the sucker body 1311 from shifting when moving up and down.
Optionally, as shown in fig. 7, the second suction cup 131 further includes an adjusting nut 1315, the adjusting nut 1315 is screwed to an end of the connecting rod 1312 far from the suction cup body 1311, and an end of the first spring 1313 far from the suction cup bracket 132 abuts against the adjusting nut 1315.
Specifically, the upper end of the tie rod 1312 is externally threaded, an adjustment nut 1315 is threadedly coupled to the upper end of the tie rod 1312, and the adjustment nut 1315 compresses the first spring 1313 between it and the suction cup bracket 132.
In this embodiment, the adjusting nut 1315 is disposed and the adjusting nut 1315 is screwed to the end of the connecting rod 1312 far from the suction cup body 1311 to compress the first spring 1313 between the first spring 1313 and the suction cup bracket 132, so that when the suction cup bodies 1311 with different weights are replaced, the compression amount of the first spring 1313 can be adjusted by rotating the adjusting nut 1315, so that the suction cup bodies 1311 with different weights can maintain balance without replacing the whole second suction cup 131.
Alternatively, as shown in fig. 1, the second suction cups 131 are located on the same straight line of the same plane and are spaced apart from each other.
The gripping surface in the region enclosed by the bent workpiece (i.e. the surface of the workpiece intended to come into contact with the second suction cup 131) is generally narrower for a U-shaped workpiece in the bent workpiece. Therefore, in this embodiment, the second suction cups 131 are disposed on the same straight line on the same plane and are spaced from each other, so that the second suction cups 131 can extend into the region surrounded by the bent workpiece to be grasped, and the grasping convenience is improved.
Further, the first suction cup assembly 120 includes a plurality of first suction cups 121, the plurality of first suction cups 121 are distributed in a matrix, and the structure of the first suction cups 121 is the same as that of the second suction cups 131.
In this way, by arranging the plurality of first suction cups 121 and distributing the plurality of first suction cups 121 in a matrix, when grabbing plate workpieces of different sizes, the plate workpieces can be grabbed by enabling the first suction cups 121 at different numbers and different positions to generate suction force (for example, enabling an electromagnet to be powered to generate magnetic suction force, or vacuumizing a vacuum suction cup to generate suction force); in addition, the first suction cup 121 has the same structure as the second suction cup 131, so that the number of parts is reduced, and the manufacturing or the commercial availability is facilitated.
Alternatively, as shown in fig. 2, the lifting assembly 140 includes a cylinder 141 and a guide rod 142, the cylinder of the cylinder 141 is connected to the suction cup holder 110, the piston rod of the cylinder 141 is connected to the second suction cup assembly 130, and the guide rod 142 passes through the suction cup holder 110 and is connected to the second suction cup assembly 130.
Specifically, the driving cylinder 141 may be an electric cylinder or a hydraulic cylinder, and in this embodiment, the driving cylinder 141 is preferably an electric cylinder, so as to implement automatic switching of the suction cup through program setting and facilitate control. The piston rod of the driving cylinder 141 extends downwards to drive the second sucker assembly 130 to descend, and the piston rod of the driving cylinder 141 contracts upwards to drive the second sucker assembly 130 to ascend.
In this embodiment, the driving cylinder 141 is provided to drive the second chuck assembly 130 to ascend and descend, and the guide rod 142 is provided to guide the ascending and descending motion of the second chuck assembly 130, so that the ascending and descending assembly 140 drives the second chuck assembly 130 to ascend and descend, and the structure is simple.
Another embodiment of the present invention, as shown in fig. 10 to 12, provides a truss robot including the suction cup mechanism as described above.
In this embodiment, the truss manipulator includes a cross beam 300, a longitudinal beam 400, a lifting mechanism 200, and the above-mentioned suction cup mechanism 100; the lifting mechanism 200 is connected with the beam 300 in a sliding manner and can move along the length direction of the beam 300, and the lifting mechanism 200 can lift along the Z axis; crossbeam 300 sets up along the X axle, and longeron 400 sets up along the Y axle, and the both ends of crossbeam 300 respectively with two longerons 400 sliding connection, crossbeam 300 can move along the Y axle direction promptly for sucking disc mechanism 100 can move along X axle, Y axle, these three directions of Z axle under elevating system 200's drive effect, in order to snatch the work piece of different positions. Meanwhile, the suction cup mechanism 100 comprises a suction cup seat 110, a first suction cup assembly 120, a second suction cup assembly 130 and a lifting assembly 140, wherein the first suction cup assembly 120 and the lifting assembly 140 are respectively detachably connected to the suction cup seat 110, the second suction cup assembly 130 is detachably connected to the lifting assembly 140, and the lifting assembly 140 is used for driving the second suction cup assembly 130 to lift; when the lifting assembly 140 drives the second suction cup assembly 130 to descend below the first suction cup assembly 120, the second suction cup assembly 130 is used for grabbing bent workpieces, and when the lifting assembly 140 drives the second suction cup assembly 130 to ascend to be located on the same plane with the first suction cup assembly 120, the first suction cup assembly 120 is used for grabbing flat workpieces, or the first suction cup assembly 120 and the second suction cup assembly 130 are used for grabbing flat workpieces together. So for the grabbing that truss manipulator can be applicable to different grade type work pieces has improved truss manipulator's the demand of grabbing effectively, need not the manual work moreover and joins in marriage a set operation, practices thrift the manpower.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications are intended to fall within the scope of the invention.
Claims (10)
1. The suction cup mechanism is applied to a truss manipulator and is characterized by comprising a suction cup seat (110), a first suction cup assembly (120), a second suction cup assembly (130) and a lifting assembly (140), wherein the first suction cup assembly (120) and the lifting assembly (140) are respectively detachably connected to the suction cup seat (110), the second suction cup assembly (130) is detachably connected to the lifting assembly (140), and the lifting assembly (140) is used for driving the second suction cup assembly (130) to lift; when the lifting assembly (140) drives the second suction cup assembly (130) to descend below the first suction cup assembly (120), the second suction cup assembly (130) is used for grabbing bent workpieces, when the lifting assembly (140) drives the second suction cup assembly (130) to ascend to be located on the same plane as the first suction cup assembly (120), the first suction cup assembly (120) is used for grabbing flat workpieces, or the first suction cup assembly (120) and the second suction cup assembly (130) are jointly used for grabbing the flat workpieces.
2. The suction cup mechanism of claim 1, wherein the second suction cup assembly (130) is located on one side of the first suction cup assembly (120) in a horizontal direction.
3. The suction cup mechanism as claimed in claim 1, wherein said second suction cup assembly (130) comprises a second suction cup (131) and a suction cup support (132), said second suction cup (131) is detachably connected to said suction cup support (132), said suction cup support (132) is detachably connected to said lifting assembly (140), and said lifting assembly (140) drives said suction cup support (132) to lift.
4. The suction cup mechanism according to claim 3, wherein the suction cup holder (110) is provided with a through hole (111), and the suction cup bracket (132) is disposed in the through hole (111) when the lifting assembly (140) drives the second suction cup assembly (130) to ascend to the same plane as the first suction cup assembly (120).
5. The suction cup mechanism according to claim 3, wherein the second suction cup (131) comprises a suction cup body (1311) and a connection bar (1312), the connection bar (1312) being connected to the suction cup bracket (132), the suction cup body (1311) being connected to one end of the connection bar (1312) and being located below the suction cup bracket (132).
6. The suction cup mechanism as claimed in claim 5, wherein the second suction cup (131) further comprises a first spring (1313) and a second spring (1314), the connecting rod (1312) passes through the suction cup bracket (132) and is connected to the suction cup body (1311), the first spring (1313) and the second spring (1314) are respectively sleeved on the connecting rod (1312) and are respectively located at two sides of the suction cup bracket (132), two ends of the first spring (1313) are respectively connected to the connecting rod (1312) and the suction cup bracket (132), two ends of the second spring (1314) are respectively connected to the suction cup body (1311) and the suction cup bracket (132), the first spring (1313) is in a compressed state, and the second spring (1314) is in a stretched state.
7. The suction cup mechanism according to claim 6, wherein the second suction cup (131) further comprises an adjusting nut (1315), the adjusting nut (1315) is in threaded connection with an end of the connecting rod (1312) remote from the suction cup body (1311), and an end of the first spring (1313) remote from the suction cup bracket (132) abuts against the adjusting nut (1315).
8. The suction cup mechanism according to claim 3, wherein the plurality of second suction cups (131) are positioned on the same line in the same plane and spaced apart from each other.
9. The suction cup mechanism according to claim 1, wherein the lifting assembly (140) comprises a driving cylinder (141) and a guide rod (142), a cylinder body of the driving cylinder (141) is connected to the suction cup holder (110), a piston rod of the driving cylinder (141) is connected to the second suction cup assembly (130), and the guide rod (142) is connected to the second suction cup assembly (130) through the suction cup holder (110).
10. A truss manipulator comprising a suction cup mechanism as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210611269.8A CN114918963A (en) | 2022-05-31 | 2022-05-31 | Sucker mechanism and truss manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210611269.8A CN114918963A (en) | 2022-05-31 | 2022-05-31 | Sucker mechanism and truss manipulator |
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| CN114918963A true CN114918963A (en) | 2022-08-19 |
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| CN202210611269.8A Pending CN114918963A (en) | 2022-05-31 | 2022-05-31 | Sucker mechanism and truss manipulator |
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Citations (32)
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