CN205419076U - Vacuum aspiration device and robot - Google Patents
Vacuum aspiration device and robot Download PDFInfo
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- CN205419076U CN205419076U CN201620108250.1U CN201620108250U CN205419076U CN 205419076 U CN205419076 U CN 205419076U CN 201620108250 U CN201620108250 U CN 201620108250U CN 205419076 U CN205419076 U CN 205419076U
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Abstract
The utility model relates to a robotechnology field especially relates to a vacuum aspiration device and robot, and the actuating mechanism cooperation of vacuum aspiration device and robot is used for adsorbate spare, the vacuum aspiration device include the sucking disc, with sucking disc sealing connection and will to the sucking disc evacuation bleed the adapter and be connected in actuating mechanism with bleed with the buffer of drive sucking disc for the actuating mechanism removal between the adapter, the adapter of bleeding include with the lower connecting rod inhaling plate outer wall sealing connection and be linked together with the sucking disc and locate down connecting rod week the side and with the lower communicating air cock of connecting rod. Vacuum adsorption is taken out on the surface of article to the sucking disc, can guarantee stability and durability when the sucking disc adsorbs the article, and the setting through buffer can with article flexible contact, avoid the article of damaging, the result of use is splendid.
Description
Technical field
This utility model relates to robotics, particularly relates to vacuum sucking device and robot.
Background technology
In daily life, the application of Acetabula device is more and more extensive, but existing Acetabula device is generally a kind of single recessed lacquer disk(-sc), by being pressed against on the object needing to draw (such as: the smooth materials of non-breathable such as glass workpiece, minute surface part, metalwork), by squeezing out the air between recessed lacquer disk(-sc) and above-mentioned material object, to realize being inhaled being attached on this kind of object.But, acting on of the restoring force easily caused by its own resilient due to this recessed lacquer disk(-sc), and make recessed lacquer disk(-sc) slowly trend towards departing from object, cause the vacuum state between itself and above-mentioned material object to be partially or completely destroyed.After vacuum is partially destroyed, just there is the phenomenon slided and tilt in Acetabula device, causes drawing object unstable；After vacuum is completely destroyed, Acetabula device just falls off, and the object being at this moment fixed on Acetabula device can come off together along with Acetabula device, causes drawing object failure.And owing to existing Acetabula device structure is single, when applying in robot, it is merely able to passive exercise, when robot controls the absorption of Acetabula device contact subject, once the control power of robot is excessive, is easily caused Acetabula device and object hard contact, causes Acetabula device or robot to damage.
Utility model content
The purpose of this utility model is to provide a kind of vacuum sucking device for the deficiencies in the prior art, it is intended to solve poor stability and the problem of object of easily damaging during existing Acetabula device absorption object.
For achieving the above object, the technical solution of the utility model is: vacuum sucking device, coordinate with the actuator of robot and be used for adsorbing object, described vacuum sucking device includes sucker, wherein, also include being connected with described suction cup sealed and will bleed described suction disc vacuum pumping adaptor and be connected to described actuator and described bleed between adaptor with the buffer unit driving described sucker to move relative to described actuator；Described adaptor of bleeding includes the lower connecting rod being tightly connected with described sucker outer wall and being connected with described sucker and is arranged at side of described lower connecting rod week and the valve communicated with described lower connecting rod.
Preferably, described sucker includes cupule head and is connected to the sucker leather cup of described cupule head bottom, and is provided with through described cupule head and the connecting hole of described sucker leather cup, is formed with sucker cavity in described sucker leather cup；Described adaptor of bleeding is provided with through described lower connecting rod and described valve and the bleed-off passage being interconnected with described connecting hole.
Preferably, the periphery of described lower connecting rod is provided with annular flange flange, and the inside of described cupule head is provided with and is formed in the annular groove that described connecting hole periphery and shape are adaptive with described annular flange flange, and described annular flange flange embeds in described annular groove.
Preferably, adaptor of bleeding described in also includes that described buffer unit includes support, connection rotating shaft and elastic component along described lower connecting rod one end towards deviating from the upper connecting rod that described sucker side extends and is connected with described buffer unit；Described upper connecting rod is fixing with the bottom of described support to be connected, in described connection rotating shaft stretches into described support through the upper end of described support and sliding up and down with described support and be connected, in described elastic component is located at described support and the upper end of described elastic component abuts with described connection rotating shaft, lower end abuts with described support.
Preferably, the two lateral walls of described support offers corresponding and vertically distribution the bar shaped slide opening in position respectively, stretches into and is equipped with at least one guide on the described connection rotating shaft in described support, and the two ends of described guide extend out to outside bar shaped slide opening described in two respectively.
Preferably, described guide includes bolt and the nut being connected with described bolt, the screw rod of described bolt is through stretching into bar shaped slide opening described in the described connection rotating shaft and two in described support, and the head of described bolt abuts with the wherein lateral border of bar shaped slide opening described in, described nut abuts with the lateral border of bar shaped slide opening another described.
Preferably, the upper end of described support offers perforation, and described connection rotating shaft through described perforation and coordinates with this perforated interval.
Preferably, described elastic component is helical spring, torsion-bar spring or rubber spring.
Further, also including that a rotating driving device, described rotating driving device include installing rack and the driving source being located on described installing rack, the outfan in described driving source is connected with described connection rotating shaft and is used for driving described connection rotating shaft to rotate.
Preferably, described rotating driving device also includes being located at the upper flange plate in described installing rack and lower flange, described upper flange plate is fixing with the outfan in described driving source to be connected, described lower flange is fixing with described connection rotating shaft to be connected, and described upper flange plate is connected by the first securing member is fixing with described lower flange.
Preferably, described rotating driving device also includes the shaft coupling being located in described installing rack, and the outfan in described driving source is connected with described connection rotating shaft by described shaft coupling.
Preferably, described rotating driving device also includes the annular table being located in described installing rack, and the two lateral walls of described installing rack offers breach respectively, and described annular table is sheathed on the top of described connection rotating shaft and outside is connected to the lateral margin of described breach.
Preferably, described driving source is steering wheel or motor, and described steering wheel or motor are located at the top ends of described installing rack and are connected by the second securing member is fixing with described installing rack.
Preferably, described sucker is made up of elastomeric material, and described sucker is rubber suction cups.
The beneficial effects of the utility model: vacuum sucking device of the present utility model, valve and outside air pump that adaptor sidepiece of bleeding is arranged is connected respectively by the two ends of trachea, the surface of the object then sucker being drawn close to needs, booster air pump carries out evacuation, air in air pump extraction sucker, and sucker is deformed upon and then extrudes the surface attaching to object, there is between sucker and object bigger vacuum, sucker overcomes the restoring force that its own resilient produces, and then stability when being greatly improved sucker suction object and durability, the object drawn is avoided displacement to occur or comes off；And arranging of buffer unit can avoid the direct rigid shock object of sucker, it is ensured that with object flexible contact, adsorption effect during use is greatly promoted.
Another object of the present utility model is to provide a kind of robot for the deficiencies in the prior art, and this robot has absorption object good stability and being difficult to and damages the advantage of object.
For achieving the above object, of the present utility model another solution is that robot, including platform mechanism and the mechanical arm being located on described platform mechanism, the end of described mechanical arm is provided with fixing seat, wherein, also include that above-mentioned vacuum sucking device, described vacuum sucking device are installed on described fixing seat.
Robot of the present utility model, owing to employing above-mentioned vacuum sucking device, so when this robot manipulation vacuum sucking device draws object, the sucker vac sorb of vacuum sucking device is on the surface of object, stability when being able to ensure that sucker suction object and durability, avoiding the object drawn displacement occur or come off, and the buffer unit arranged on vacuum sucking device ensure that and object flexible contact, using effect is more preferably.
Accompanying drawing explanation
Fig. 1 is the perspective view after this utility model vacuum sucking device hides buffer unit.
Fig. 2 is the cut away view after the vacuum sucking device of Fig. 1 hides buffer unit.
Fig. 3 is the stereochemical structure decomposing schematic representation after this utility model vacuum sucking device hides buffer unit.
Fig. 4 is the perspective view of this utility model the first embodiment of vacuum sucking device.
Fig. 5 is the stereochemical structure decomposing schematic representation of this utility model the first embodiment of vacuum sucking device.
Fig. 6 is the perspective view of this utility model vacuum sucking device the second embodiment.
Fig. 7 is the stereochemical structure decomposing schematic representation of this utility model vacuum sucking device the second embodiment.
Fig. 8 is the perspective view of this utility model robot.
Reference includes:
1 vacuum sucking device 2 mechanical arm 3 fixes seat
10 sucker 11 cupule head 12 sucker leather cups
20 bleed adaptor 21 lower connecting rod 22 valve
23 upper connecting rod 24 bleed-off passage 30 buffer units
31 support 32 connection rotating shaft 33 elastic components
34 guide 40 rotating driving device 41 installing racks
42 drive source 43 upper flange plate 44 lower flange
45 annular table 111 connecting hole 112 annular grooves
121 sucker cavity 211 annular flange flange 221 overhead kick flanges
311 bar shaped slide openings 312 are bored a hole 341 bolts
342 nut 411 breach 421 second securing members
431 first securing member 3411 screw rod 3412 heads.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing 1～8 and embodiment, this utility model is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain this utility model, is not used to limit this utility model.
It should be noted that the orientation term such as left and right, upper and lower, top in the present embodiment, end, it is only relative concept or with the normal operating condition of product as reference each other, and should not be regarded as restrictive.
As shown in Figures 1 to 8, this utility model embodiment provides a kind of vacuum sucking device 1, coordinate with the actuator of robot and be used for adsorbing object, described vacuum sucking device 1 includes sucker 10, wherein, vacuum sucking device 1 also includes and described sucker 10 is tightly connected and the adaptor 20 and be connected to described actuator and described bleed between adaptor 20 to drive the buffer unit 30 that moves relative to described actuator of described sucker of bleeding described sucker 10 evacuation；Described adaptor 20 of bleeding includes the lower connecting rod 21 being tightly connected with described sucker 10 outer wall and being connected with described sucker 10 and is arranged at 21 weeks sides of described lower connecting rod and the valve 22 communicated with described lower connecting rod 21.Vacuum sucking device 1 of the present utility model, valve 22 and outside air pump that adaptor 20 sidepiece of bleeding is arranged is connected respectively by the two ends of trachea, the surface of the object then sucker 10 being drawn close to needs, booster air pump carries out evacuation, air in air pump extraction sucker 10, and make sucker 10 deform upon and then extrude the surface attaching to object, there is between sucker 10 and object bigger vacuum, sucker 10 overcomes the restoring force that its own resilient produces, and then it is greatly improved stability when sucker 10 adsorbs object and durability, the object drawn is avoided displacement to occur or comes off；And arranging of buffer unit 30 can avoid the direct rigid shock object of sucker 10, it is ensured that with object flexible contact, adsorption effect during use is greatly promoted.
Wherein, above-mentioned use to the air pump that air pump is prior art, carry out evacuation by air pump.Tightr for guaranteeing that valve 22 is connected with trachea, the periphery of valve 22 is to being externally provided with overhead kick flange 221, when valve 22 inserts from the one end open of trachea, overhead kick flange 221 outwardly against the inwall in the hole of trachea and abuts with the inner wall sealing in the hole of trachea, such that it is able to be effectively improved sealing that valve 22 is connected with trachea and improve the stability after valve 22 is connected with trachea, guarantee when general External Force Acting is on trachea, the connection of trachea and valve 22 without departing from, and then ensure that the stability that air pump evacuation works.
Shown in Fig. 8, vacuum sucking device 1 of the present utility model can be applied in robot, it is connected fixing with the actuating station of robot for the top of adaptor 20 of bleeding, so robot can freely control the movement that this vacuum sucking device 1 is carried out in three dimensions, to realize drawing object.Such as, when carrying out chemical experiment, the vacuum sucking device 1 manipulated in the present embodiment by robot draws the experiment appliances such as beaker, places it in and needs to use the position arrived.Certainly, the vacuum sucking device 1 of the present embodiment is not limited to apply in robot, in other embodiments, it is also possible to apply in various automation equipments.
In the present embodiment, shown in Fig. 1～3, described sucker 10 includes cupule head 11 and is connected to the sucker leather cup 12 of described cupule head 11 bottom, and is provided with through described cupule head 11 and the connecting hole 111 of described sucker leather cup 12, is formed with sucker cavity 121 in described sucker leather cup 12；Described adaptor 20 of bleeding is provided with through described lower connecting rod 21 and described valve 22 and the bleed-off passage 24 being interconnected with described connecting hole 111.Concrete, the aperture of connecting hole 111 is slightly smaller than the bar footpath of lower connecting rod 21, and whole sucker 10 is made up of elastomeric material, so, when the lower connecting rod 21 of adaptor 20 of bleeding inserts in connecting hole 111, lower connecting rod 21 can somewhat support the aperture of huge linkage hole 111 and realize being tightly connected with connecting hole 111, and sucker 10 has elasticity, the inwall of connecting hole 111 can tightly be pressed in the outside wall surface of lower connecting rod 21, and lower connecting rod 21 is greatly promoted with the connective stability of connecting hole 111.And owing to wherein one end of bleed-off passage 24 is the through end to lower connecting rod 21, so this end of bleed-off passage 24 connects with sucker cavity 121, when sucker leather cup 12 is attached to the surface of object, sucker cavity 121 in sucker leather cup 12 encloses one space of formation jointly with the surface of object, during air pump work, by bleed-off passage 24 suction, the air in this space is formed vacuum, so that sucker 10 steadily adsorbs on the surface of object, absorption stability is splendid.
Further illustrate, the surface of the object that sucker leather cup 12 is drawn close to needs, booster air pump carries out evacuation, air in air pump extraction sucker cavity 121, and make sucker leather cup 12 deform upon and then extrude the surface attaching to object, there is between sucker leather cup 12 and object bigger vacuum, sucker 10 overcomes the restoring force that its own resilient produces, and then it is greatly improved stability when sucker 10 adsorbs object and durability, avoiding the object drawn displacement occur or come off, adsorption effect during use is greatly promoted.
In the present embodiment, shown in Fig. 2, the periphery of described lower connecting rod 21 is provided with annular flange flange 211, the inside of described cupule head 11 is provided with the annular groove 112 being formed in described connecting hole 111 periphery and shape with described annular flange flange 211 adaptation, and described annular flange flange 211 embeds in described annular groove 112.nullConcrete，Owing to cupule head 11 has certain elasticity，On cupule head 11, it is deformed by applying External Force Acting，Such that it is able to the annular flange flange 211 of lower connecting rod 21 is inserted from the upper end of connecting hole 111，Until in the annular groove 112 offered in being embedded into cupule head 11 of annular flange flange 211，After annular flange flange 211 and the annular groove 112 of shape adaptation is connected，Cupule head 11 restores to the original state，When applying general external force and sucker 10 or adaptor 20 of bleeding being pulled out，Owing to the external diameter of annular flange flange 211 is significantly greater than the aperture of connecting hole 111，Annular flange flange 211 can be blocked by the upper lower wall of annular groove 112，Cannot deviate from from connecting hole 111 easily，Improve the stability being connected between cupule head 11 with lower connecting rod 21 further，Improve sucker 10 the most further and the stability being connected between adaptor 20 of bleeding.
Certainly, cupule head 11 is not limited to above-mentioned a kind of connected mode with the connection of lower connecting rod 21；In other embodiments, lower connecting rod 21 and cupule head 11 can carry out welding；Or, by increasing auxiliary member, lower connecting rod 21 is fastenedly connected with cupule head 11；In a word, as long as lower connecting rod 21 realizes being connected with cupule head 11.
Further, shown in Fig. 3～4, described adaptor 20 of bleeding also includes that described buffer unit 30 includes support 31, connection rotating shaft 32 and elastic component 33 along described lower connecting rod 21 one end towards deviating from the upper connecting rod 23 that described sucker 10 side extends and is connected with described buffer unit 30；Described upper connecting rod 23 is fixing with the bottom of described support 31 to be connected, in described support 31 is stretched in the upper end that described connection rotating shaft 32 passes described support 31 and slide up and down with described support 31 and be connected, certainly, in order to avoid connection rotating shaft 32 departs from the connection with support 31, can arrange in the end of connection rotating shaft 32 and stop that connection rotating shaft 32 departs from the parts being connected with support 31；In described elastic component 33 is located at described the support 31 and upper end of described elastic component 33 abuts with described connection rotating shaft 32, lower end abuts with described support 31.Concrete, owing to buffer unit 30 is connected with upper connecting rod 23, when needs use vacuum sucking device 1 to draw object, controlling buffer unit 30 can drive sucker 10 to move in three dimensions, until sucker 10 moves to specifically need the side on the surface of the object of absorption, applying power is on the connection rotating shaft 32 of buffer unit 30, power is transferred on support 31 by connection rotating shaft 32, support 31 transfers force to upper connecting rod 23, and then transfer force on sucker 10, order about sucker 10 and be attached to the surface of object；Due to, elastic component 33 it is provided with in support 31, and the top and bottom of this elastic component 33 abut with connection rotating shaft 32 and support 31 respectively, so when connection rotating shaft 32 produces active force to support 31, the first compression elastic piece 33 of connection rotating shaft 32 meeting, transfer force on support 31 by elastic component 33, elastic component 33 plays buffering connection rotating shaft 32 and is applied to the power on support 31, support 31 is avoided to drive the direct rigid shock object of sucker 10 connected on adaptor 20 of bleeding, guarantee that sucker 10 realizes flexibility absorption and is connected with object, and then each parts to vacuum sucking device 1 and object can be avoided to cause damage, guarantee to draw that object is working properly stably carries out.
Such as, when the object needing the object drawn to be glass material, by the setting of buffer unit 30, so that the power that reduction is applied on glass article in a flash that sucker 10 contacts with glass article, it is to avoid vacuum sucking device 1 crashes through glass article.Realize with the object time when vacuum sucking device 1 draws object being connected flexible absorption sum it up, achieved by the setting of buffer unit 30, it is to avoid vacuum sucking device 1 and object produce parts damages and the operating interruptions that hard collision causes.
In the present embodiment, shown in Fig. 4～5, the two lateral walls of described support 31 offers corresponding and vertically distribution the bar shaped slide opening 311 in position respectively, stretch into and on the described connection rotating shaft 32 in described support 31, be equipped with at least one guide 34, the two ends of described guide 34 extend out to outside bar shaped slide opening 311 described in two respectively, bar shaped slide opening 311 is arranged in vertical direction, it can be ensured that being located in guide 34 on connection rotating shaft 32 can carry out upper and lower slip with bar shaped slide opening 311 for guiding.Concrete, when applying power in connection rotating shaft 32, owing to guide 34 is connected with connection rotating shaft 32, so guide 34 moves up and down under the guide effect of bar shaped slide opening 311, thus connection rotating shaft 32 is also carried out moving up and down, guarantee that connection rotating shaft 32 is when moving up and down, position does not haves skew, that is to say and may insure that connection rotating shaft 32 can normally drive support 31 to move along straight line, and then driving sucker 10 to move along straight line, when preventing the sucker 10 of vacuum sucking device 1 from adsorbing object, position occurs that skew causes drawing object failure.Additionally, guide 34 extend out to outside the bar shaped slide opening 311 that two positions is relative respectively due to its two ends, so, so that the stroke that guide 34 moves up can only get at the top end of bar shaped slide opening 311, and connection rotating shaft 32 connects with guiding, connection rotating shaft 32 can be avoided under the effect of guide 34 to depart from and being slidably connected of support 31, and structure designs the most ingenious, practical.
More specifically, guide 34 preferably has two, it is respectively provided at the position of the upper and lower of the connection rotating shaft 32 stretched in support 31, moving up and down of connection rotating shaft 32 is played guide effect by two guides 34 jointly, guiding steady is qualitative more preferably, and the guide 34 being positioned at bottom can also jointly abut the upper end of elastic component 33 with connection rotating shaft 32, so can depart from because of movement during work with the upper end of elastic component 33 with the abutting of connection rotating shaft 32 and cause losing cushioning effect.
In the present embodiment, shown in Fig. 4～5, described guide 34 includes bolt 341 and the nut 342 being connected with described bolt 341, the screw rod 3411 of described bolt 341 is through stretching into bar shaped slide opening 311 described in the described connection rotating shaft 32 and two in described support 31, and the head 3412 of described bolt 341 abuts with the wherein lateral border of bar shaped slide opening 311 described in, described nut 342 abuts with the lateral border of bar shaped slide opening 311 another described.When specifically buffer unit 30 being assembled, the screw rod 3411 of bolt 341 is penetrated from a bar shaped slide opening 311, then pass through connection rotating shaft 32, pass again outside another bar shaped slide opening 311, the head 3412 of bolt 341 is connected to the lateral border of a wherein bar shaped slide opening 311, nut 342 is connected with screw rod 3411, by twisting nut 342 until nut 342 is connected to the lateral border of another bar shaped slide opening 311.Certainly, head 3412 and the nut 342 of bolt 341 abuts to have only to play with the lateral border of bar shaped slide opening 311 and positions, it is not necessary to compress completely, it is to avoid screw rod 3411 cannot slide up and down at bar shaped slide opening 311.The guide 34 that bolt 341 and nut 342 cooperatively form is prone to assemble, and with low cost, and using effect is good.
In the present embodiment, shown in Fig. 5, the upper end of described support 31 offers perforation 312, described connection rotating shaft 32 through described perforation 312 and with this perforation 312 matched in clearance.Concrete, be may insure that by the matched in clearance between connection rotating shaft 32 and perforation 312 and between connection rotating shaft 32 and support 31, realize upper and lower being slidably connected, the good stability being slidably connected that this kind of structure not only realizes, and also easy to set up, easily manufacture, easy to process.
In the present embodiment, described elastic component 33 is helical spring, torsion-bar spring or rubber spring.Concrete, according to practical situation, optimized choice helical spring, torsion-bar spring or rubber spring use as the elastic component 33 of buffer unit 30, thus form various different buffer unit 30.Wherein, compression helical spring, torsion-bar spring and rubber spring after unclamping, each spring all can resile rapidly, and the elastic component 33 as buffer unit 30 uses, it is possible to the buffering effect of realization is splendid.
Further, shown in Fig. 6～7, the vacuum sucking device 1 of the present embodiment also includes a rotating driving device 40, described rotating driving device 40 includes installing rack 41 and the driving source 42 being located on described installing rack 41, and the outfan in described driving source 42 is connected with described connection rotating shaft 32 and for driving described connection rotating shaft 32 to rotate.Concrete, driving source 42 produces power, by its outfan power is transferred to on the connection rotating shaft 32 of outfan drive connection, connection rotating shaft 32 is driven to rotate, owing to being equipped with guide 34 on connection rotating shaft 32, so connection rotating shaft 32 band lower moving guide 34 rotates, guide 34 drives whole support 31 to rotate, support 31 drives adaptor 20 of bleeding to rotate, adaptor 20 of bleeding drives sucker 10 to rotate, i.e. realize control and bleed adaptor 20 with connection rotating shaft 32 for axially rotating, when sucker 10 is when drawing object, sucker 10 can be first driven to rotate certain angle to select optimal position that object is adsorbed by rotating driving device 40.Additionally, owing to the sidepiece of adaptor 20 of bleeding is provided with valve 22, connect on valve 22 and have trachea, visual angle obstacle or position impact is formed for avoiding trachea to adsorb object at sucker 10, adaptor 20 of bleeding can also be driven to rotate by controlling rotating driving device 40 equally, so that the trachea connected on valve 22 removes until it does not interferes with absorption object work.
Wherein, the effect of installing rack 41 is to play support to install remaining each parts, such as, drive source 42.The shape of installing rack 41 does not limits, and needs to be designed according to practical situation.
More specifically, shown in Fig. 6～7, described rotating driving device 40 also includes being located at the upper flange plate 43 in described installing rack 41 and lower flange 44, described upper flange plate 43 is fixing with the outfan in described driving source 42 to be connected, described lower flange 44 is fixing with described connection rotating shaft 32 to be connected, and described upper flange plate 43 is connected by the first securing member 431 is fixing with described lower flange 44.The outfan in general driving source 42 is shaft-like, and connection rotating shaft 32 is also shaft-like, the connection stability to be guaranteed between shaft-like part and shaft-like part, not only needs to consider the most conveniently to carry out assembly operation when connecting, it is also contemplated that the stability after connection.In the present embodiment, first pass through upper flange plate 43 to be connected with the outfan in driving source 42, it is connected with connection rotating shaft 32 by lower flange 44 again, upper flange plate 43 all can use axis hole interference fit to connect with the connection of the outfan in driving source 42 and the connection of lower flange 44 and connection rotating shaft 32, finally by the first securing member 431, upper flange plate 43 and lower flange 44 are locked, thus complete the outfan in driving source 42 and the drive connection of connection rotating shaft 32, realize when driving source 42 starts, connection rotating shaft 32 is driven to rotate by outfan, final realization drives sucker 10 with connection rotating shaft 32 for axially rotating.
The another embodiment that the outfan in the driving source 42 in the present embodiment and connection rotating shaft 32 realize drive connection is: rotating driving device 40 also includes the shaft coupling (not shown) being located in described installing rack 41, and the outfan in described driving source 42 is connected with described connection rotating shaft 32 by described shaft coupling.I.e., it is connected driving the outfan in source 42 and the end of connection rotating shaft 32 with the two ends of shaft coupling respectively, thus realize driving source 42 and connection rotating shaft 32 drive connection by shaft coupling, this kind of connected mode equally realizes when driving source 42 starts, driving connection rotating shaft 32 to rotate by outfan, final realization drives sucker 10 with connection rotating shaft 32 for axially rotating.
Certainly, the present embodiment is not limited to the mode of the outfan in above-mentioned two kind driving source 42 and the drive connection of connection rotating shaft 32, in other embodiments, it would however also be possible to employ other are capable of the structure of the outfan in driving source 42 Yu connection rotating shaft 32 drive connection.
In the present embodiment, shown in Fig. 6～7, described rotating driving device 40 also includes the annular table 45 being located in described installing rack 41, the two lateral walls of described installing rack 41 offers breach 411 respectively, and described annular table 45 is sheathed on the top of described connection rotating shaft 32 and outside is connected to the lateral margin of described breach 411.Concrete, annular table 45 and connection rotating shaft 32 are positioned at the position socket of installing rack 41, and the diapire of annular table 45 abuts with installing rack 41, sidewall is connected to the lateral margin of the breach 411 that installing rack 41 two lateral walls is offered, so, when driving source 42 drive connection rotating shaft 32 rotates, annular table 45 can play the effect preventing installing rack 41 from shaking, it is ensured that avoids affecting the accuracy drawing position of sucker 10.
In the present embodiment, described driving source 42 is steering wheel or motor, and described steering wheel or motor are located at the top ends of described installing rack 41 and are connected by the second securing member 421 is fixing with described installing rack 41.Top end face that is concrete, that installing rack 41 will be locked at as the steering wheel in driving source 42 or motor by the second securing member 421, it is easy to accomplish, facilitate mounting or dismounting, and the stability after installing accesses guarantee.During it should be noted that steering wheel or motor are as the source 42 of driving, the output shaft of steering wheel or motor is the outfan in driving source 42.
In the present embodiment, described sucker 10 is made up of elastomeric material.Concrete, sucker 10 toughness and elasticity that elastomeric material is made are good, when evacuation, the deformation that self can produce of sucker 10 is adsorbed on the surface of object with more preferable, and when non-duty, sucker 10 can recover automatically to original state, does not affect the absorption to next object.
Shown in Fig. 1 and Fig. 8, this utility model embodiment also provides for a kind of robot, and including mechanical arm 2, the end of described mechanical arm 2 is provided with fixing seat 3, wherein, also includes that above-mentioned vacuum sucking device 1, described vacuum sucking device 1 are installed on described fixing seat 3.Concrete, mechanical arm 3 performs action, fixing seat 3 is used for supporting fixed installation vacuum sucking device 1, fixing seat 3 moves in three dimensions along with mechanical arm 2, so vacuum sucking device 1 moves in three dimensions also with mechanical arm 2, when a certain object drawn by needs, vacuum sucking device 1 is driven to the position of object, object to be drawn by mechanical arm 2, it is achieved automation mechanized operation.
Further, this robot is also provided with air pump and controller, and air pump can work by evacuation, and all parts of the whole robot of controller then master control coordinates action, realizes automation mechanized operation comprehensively.
Robot of the present utility model, owing to employing above-mentioned vacuum sucking device 1, so when this robot manipulation vacuum sucking device 1 draws object, sucker 10 vac sorb of vacuum sucking device 1 is on the surface of object, it is able to ensure that stability when sucker 10 adsorbs object and durability, avoiding the object drawn displacement occur or come off, and the buffer unit 30 arranged on vacuum sucking device 1 ensure that and object flexible contact, using effect is more preferably.
Understanding this utility model in sum is to have above-described good characteristic, is made it on using, promotes the usefulness not having in conventional art and have practicality, become the product of a great practical value.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all any amendment, equivalent or improvement etc. made within thought of the present utility model and principle, within should be included in protection domain of the present utility model.
Claims (15)
1. a vacuum sucking device, coordinate with the actuator of robot and be used for adsorbing object, described vacuum sucking device includes sucker, it is characterised in that: also include being connected with described suction cup sealed and will bleed described suction disc vacuum pumping adaptor and be connected to described actuator and described bleed between adaptor with the buffer unit driving described sucker to move relative to described actuator；Described adaptor of bleeding includes the lower connecting rod being tightly connected with described sucker outer wall and being connected with described sucker and is arranged at side of described lower connecting rod week and the valve communicated with described lower connecting rod.
Vacuum sucking device the most according to claim 1, it is characterized in that: described sucker includes cupule head and is connected to the sucker leather cup of described cupule head bottom, and it is provided with through described cupule head and the connecting hole of described sucker leather cup, it is formed with sucker cavity in described sucker leather cup；Described adaptor of bleeding is provided with through described lower connecting rod and described valve and the bleed-off passage being interconnected with described connecting hole.
Vacuum sucking device the most according to claim 2, it is characterized in that: the periphery of described lower connecting rod is provided with annular flange flange, the inside of described cupule head is provided with and is formed in the annular groove that described connecting hole periphery and shape are adaptive with described annular flange flange, and described annular flange flange embeds in described annular groove.
4. according to the vacuum sucking device described in any one of claims 1 to 3, it is characterized in that: described in adaptor of bleeding also include extending and the upper connecting rod that is connected with described buffer unit along described lower connecting rod one end towards deviating from described sucker side, described buffer unit includes support, connection rotating shaft and elastic component；Described upper connecting rod is fixing with the bottom of described support to be connected, in described connection rotating shaft stretches into described support through the upper end of described support and sliding up and down with described support and be connected, in described elastic component is located at described support and the upper end of described elastic component abuts with described connection rotating shaft, lower end abuts with described support.
Vacuum sucking device the most according to claim 4, it is characterized in that: the two lateral walls of described support offers corresponding and vertically distribution the bar shaped slide opening in position respectively, stretching into and be equipped with at least one guide on the described connection rotating shaft in described support, the two ends of described guide extend out to outside bar shaped slide opening described in two respectively.
Vacuum sucking device the most according to claim 5, it is characterized in that: described guide includes bolt and the nut being connected with described bolt, the screw rod of described bolt is through stretching into bar shaped slide opening described in the described connection rotating shaft and two in described support, and the head of described bolt abuts with the wherein lateral border of bar shaped slide opening described in, described nut abuts with the lateral border of bar shaped slide opening another described.
Vacuum sucking device the most according to claim 4, it is characterised in that: the upper end of described support offers perforation, and described connection rotating shaft through described perforation and coordinates with this perforated interval.
Vacuum sucking device the most according to claim 4, it is characterised in that: described elastic component is helical spring, torsion-bar spring or rubber spring.
Vacuum sucking device the most according to claim 4, it is characterized in that: also include a rotating driving device, described rotating driving device includes installing rack and the driving source being located on described installing rack, and the outfan in described driving source is connected with described connection rotating shaft and is used for driving described connection rotating shaft to rotate.
Vacuum sucking device the most according to claim 9, it is characterized in that: described rotating driving device also includes being located at the upper flange plate in described installing rack and lower flange, described upper flange plate is fixing with the outfan in described driving source to be connected, described lower flange is fixing with described connection rotating shaft to be connected, and described upper flange plate is connected by the first securing member is fixing with described lower flange.
11. vacuum sucking devices according to claim 9, it is characterised in that: described rotating driving device also includes the shaft coupling being located in described installing rack, and the outfan in described driving source is connected with described connection rotating shaft by described shaft coupling.
12. vacuum sucking devices according to claim 9, it is characterized in that: described rotating driving device also includes the annular table being located in described installing rack, the two lateral walls of described installing rack offers breach respectively, and described annular table is sheathed on the top of described connection rotating shaft and outside is connected to the lateral margin of described breach.
13. vacuum sucking devices according to claim 9, it is characterised in that: described driving source is steering wheel or motor, and described steering wheel or motor are located at the top ends of described installing rack and are connected by the second securing member is fixing with described installing rack.
14. according to the vacuum sucking device described in any one of claims 1 to 3, it is characterised in that: described sucker is rubber suction cups.
15. 1 kinds of robots, including platform mechanism and the mechanical arm being located on described platform mechanism, the end of described mechanical arm is provided with fixing seat, it is characterised in that: also including the vacuum sucking device described in any one of claim 1～14, described vacuum sucking device is installed on described fixing seat.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620108250.1U CN205419076U (en) | 2016-02-02 | 2016-02-02 | Vacuum aspiration device and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620108250.1U CN205419076U (en) | 2016-02-02 | 2016-02-02 | Vacuum aspiration device and robot |
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| CN205419076U true CN205419076U (en) | 2016-08-03 |
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| CN201620108250.1U Active CN205419076U (en) | 2016-02-02 | 2016-02-02 | Vacuum aspiration device and robot |
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