CN207915504U - Vacuum cup machinery hand - Google Patents

Abstract

The utility model relates to the technical field of mechanical equipment, in particular to a vacuum suction cup manipulator. The utility model can directly pick up the plate through the suction force of the air pressure through the suction cup assembly, effectively avoiding the influence of clamping on the plate, realizing the multi-directional pick-and-place material function of the manipulator, and optimizing the structural layout of the equipment without customizing non-standard parts, which reduces the cost; the support component can be worn in the hollow of the plate, and by increasing the contact area between the gripper and the plate, it can support the plate, avoiding the breakage of the plate during handling, and improving product quality. Rate.

Description

Vacuum suction cup manipulator

technical field

The utility model relates to the technical field of mechanical equipment, in particular to a vacuum suction cup manipulator.

Background technique

The robot hand grip is a kind of clamping part commonly used in the production and processing of machinery. When using the manipulator, the manipulator is generally clamped by clamping and clamping force on both sides. The realization of the clamping force requires complicated The driving part drives the two arms to clamp, and at the same time, through the clamping of the mechanical structure, the clamping force will be affected by the mechanical precision, and the clamping force is difficult to control. , because the middle part is a hollow structure, the clamping or grabbing of the plate can easily cause the plate to break, which is not conducive to the production of the enterprise.

Utility model content

The purpose of this utility model is to provide a vacuum suction cup manipulator to solve the problems raised in the above-mentioned background technology.

In order to solve the above technical problems, the technical solution adopted by the utility model to solve the technical problems is:

A vacuum chuck manipulator, comprising a multi-axis manipulator and a gripper, the gripper is arranged on the multi-axis manipulator;

The gripper includes a gripper frame and a support assembly arranged on the gripper frame, the gripper frame includes a bracket connected to the multi-axis mechanical arm, the bracket is connected to the support plate through a connecting rod, the The four corners of the support plate are provided with protruding ends, and the protruding ends are provided with suction cup assemblies.

As a further improvement of the present utility model, a hollow portion is provided on the support plate, and the support assembly is arranged on the hollow portion.

As a further improvement of the utility model, the support assembly includes a support plate and a motor arranged on the support plate, a support portion is provided at the bottom of the support plate, a rotating shaft is provided on the support portion, and the motor and the The rotating shaft is driven and connected, the rotating shaft is provided with a gear, and the supporting part is also provided with two first through holes penetrating through the supporting part, and the two first through holes are respectively arranged on both sides of the gear. A first support rod is slidably arranged in the through hole, and a first rack is arranged on the first support rod, and the first rack is meshed with the gear.

As a further improvement of the utility model, one end of the first support rod is provided with a first block, and the other end is provided with a support pad, and the support pad is provided with a vacuum suction plate, the vacuum suction plate.

As a further improvement of the present utility model, two second through holes are also provided on the support part, and the second through holes are perpendicular to the first through holes and do not communicate with each other. The height of the second through holes Slightly lower than the first through hole, two second through holes are respectively arranged on both sides of the gear, a second support rod is slid in the second through hole, and a second rack is arranged on the second support rod , the second rack meshes with the gear.

As a further improvement of the present invention, one end of the second support rod is provided with a second stopper, and the other end is provided with a fixed block, and the supporting part is provided with an accommodating cavity for accommodating the fixed block.

As a further improvement of the utility model, a support pad is provided on the fixed block, and a buffer pad is provided on the support pad.

As a further improvement of the utility model, the suction cup assembly includes a connecting rod, a locking nut and a suction cup, the connecting rod is passed through the waist-shaped groove of the extending end, and the connecting rod is connected to the extending end through the locking nut. connected, the suction cup is installed on the end of the connecting rod away from the protruding end.

As a further improvement of the present utility model, a spring is sheathed on the connecting rod, an abutment part is provided on the suction cup, and both ends of the spring abut against the abutment part and the bottom surface of the protruding end respectively.

It can be seen from the above technical solution that the utility model can directly pick up the plate through the suction force of the air pressure through the suction cup assembly, effectively avoiding the influence of clamping on the plate, realizing the multi-directional pick-and-place material function of the manipulator, and making the equipment The structural layout is more optimized, and there is no need to customize non-standard parts, which reduces the cost; the support component can be installed in the hollow of the plate, and by increasing the contact area between the gripper and the plate, it can support the plate and avoid the process of plate handling In the case of breakage, improve product yield.

Description of drawings

Fig. 1 is a structural schematic diagram of a vacuum suction cup manipulator of the present invention.

Fig. 2 is a three-dimensional schematic view of the gripper of the present invention.

Fig. 3 is a schematic diagram of the gripper of the present invention.

Fig. 4 is a cross-sectional view at A-A in Fig. 3 .

Explanation of reference signs: 1-multi-axis mechanical arm, 2-grip, 21-bracket, 22-connecting rod, 23-support plate, 24-extending end, 3-suction cup, 31-connecting rod, 4-supporting plate , 41-motor, 42-support portion, 43-first support rod, 44-second support rod, 45-accommodating cavity, 46-fixed block, 47-rotating shaft, 48-gear.

Detailed ways

The utility model will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the utility model and implement it, but the examples given are not intended to limit the utility model.

Referring to Fig. 1 and Fig. 2, a vacuum suction cup manipulator includes a multi-axis manipulator 1 and a gripper 2, and the gripper 2 is arranged on the multi-axis manipulator 1;

The gripper 2 includes a gripper frame and a support assembly arranged on the gripper frame, the gripper frame includes a bracket 21 connected to the multi-axis mechanical arm 1, and the bracket 21 is connected to the multi-axis mechanical arm 1 through a connecting rod 22 The support plates 23 are connected, and the four corners of the support plates 23 are provided with extension ends 24, and the extension ends 24 are provided with suction cup assemblies.

The multi-axis manipulator 1 in the utility model can be any one of a 3-axis manipulator, a 4-axis manipulator, a 5-axis manipulator and a 6-axis manipulator. The more preferred solution in this embodiment is the multi-axis manipulator 1 It can be a 6-axis robotic arm.

A hollow portion is provided on the support plate 23, and the support assembly is disposed on the hollow portion.

Referring to Fig. 3 and Fig. 4, the support assembly includes a support plate 4 and a motor 41 arranged on the support plate 4, a support portion 42 is provided at the bottom of the support plate 4, and a rotating shaft 47 is provided on the support portion 42 , the motor 41 is drivingly connected to the rotating shaft 47, the rotating shaft 47 is provided with a gear 48, and the supporting part 42 is also provided with two first through holes passing through the supporting part 42, the two first through holes The holes are respectively arranged on both sides of the gear 48, and the first support rod 43 is slidably arranged in the first through hole, and the first support rod 43 is provided with a first rack, and the first rack and the gear 48 meshes.

The motor 41 drives the gear 48 to rotate, thereby driving the first support rod 43 to extend out of the first through hole to contact the plate, increasing the contact area between the gripper 2 and the plate, and the first support rod 43 can lift the plate to avoid the middle part of the plate It is suspended in the air and supports the board to avoid breaking the board during transportation.

One end of the first support rod 43 is provided with a first block, and the other end is provided with a support pad, and the support pad is provided with a vacuum suction plate, the vacuum suction plate.

The support portion 42 is also provided with two second through holes, the second through holes are perpendicular to the first through holes and do not communicate with each other, and the height of the second through holes is slightly lower than that of the first through holes. Through holes, two second through holes are respectively arranged on both sides of the gear 48, a second support rod 44 is slidably arranged in the second through hole, and a second rack is arranged on the second support rod 44, and the second support rod 44 is provided with a second rack. The two racks are engaged with the gear 48 .

One end of the second support rod 44 is provided with a second stopper, and the other end is provided with a fixed block 46 , and the support portion 42 is provided with an accommodating cavity 45 for accommodating the fixed block 46 .

The motor 41 drives the gear 48 to rotate, the second support rod 44 protrudes out of the second through hole to contact the plate, and the first support rod 43 and the second support rod 44 support the surroundings of the hollow part of the plate at the same time, so as to further avoid accidents during plate handling. In case of breakage, especially plates with a large area can be transferred to ensure the quality of plate handling.

A support pad is provided on the fixing block 46 , and a buffer pad is provided on the support pad.

The suction cup assembly includes a connecting rod 31, a locking nut and a suction cup 3, the connecting rod 31 is passed through the waist-shaped groove of the extending end 24, and the connecting rod 31 is connected to the extending end 24 through a locking nut , the suction cup 3 is mounted on the end of the connecting rod 31 away from the protruding end 24 .

The connecting rod 31 is sleeved with a spring, and the suction cup 3 is provided with an abutment portion, and two ends of the spring abut against the abutment portion and the bottom surface of the protruding end 24 respectively.

By adjusting the position of the connecting rod 31 and the waist groove, the distance between the suction cups 3 can be manually adjusted to adapt to the size of the workpiece, and the size of workpieces of various specifications can be changed. The application range is wide and the production cost is low.

It can be seen from the above technical solution that the utility model can directly pick up the plate through the suction force of the air pressure through the suction cup assembly, effectively avoiding the influence of clamping on the plate, realizing the multi-directional pick-and-place material function of the manipulator, and making the equipment The structural layout is more optimized, and there is no need to customize non-standard parts, which reduces the cost; the support component can be installed in the hollow part of the plate, and by increasing the contact area between the gripper 2 and the plate, it can support the plate and avoid plate handling In the process of breaking the situation, improve product yield.

The above-mentioned embodiments are only preferred embodiments for fully illustrating the utility model, and the protection scope of the utility model is not limited thereto. The equivalent substitutions or transformations made by those skilled in the art on the basis of the present utility model are all within the protection scope of the present utility model. The scope of protection of the utility model shall be determined by the claims.

Claims (9)

1. a kind of vacuum cup machinery hand, which is characterized in that including Multi-shaft mechanical arm and handgrip, handgrip is arranged in the multiaxis On mechanical arm；

The handgrip includes gripper frame and the support component that is arranged on the gripper frame, the gripper frame include with it is described more The holder of shaft mechanical arm connection, the holder are connect by connecting rod with support plate, and support plate four corners office is equipped with external part, described External part is equipped with Suction cup assembly.

2. vacuum cup machinery hand as described in claim 1, which is characterized in that the support plate is equipped with a hollow-out parts, described Support component is arranged in the hollow-out parts.

3. vacuum cup machinery hand as described in claim 1, which is characterized in that the support component includes support plate and sets The motor in the support plate is set, the support plate bottom is equipped with support portion, and the support portion is equipped with a shaft, the electricity Machine is drivingly connected with the shaft, and the shaft is equipped with gear, and two are additionally provided on the support portion and runs through the support portion First through hole, two first through hole are separately positioned on gear both sides, are slidably equipped with first support bar in the first through hole, described One supporting rod is equipped with the first rack, and first rack is engaged with the gear.

4. vacuum cup machinery hand as claimed in claim 3, which is characterized in that described first support bar one end is equipped with one first Block, the other end are equipped with a support pad, and the support pad is equipped with vacuum plate sucking, the vacuum plate sucking.

5. vacuum cup machinery hand as claimed in claim 3, which is characterized in that it is logical to be additionally provided with two second on the support portion Hole, second through-hole are vertical setting and are not communicated with the first through hole, and the height of second through-hole is slightly below described First through hole, two second through-holes are separately positioned on gear both sides, are slidably equipped with second support bar in second through-hole, and described second Supporting rod is equipped with the second rack, and second rack is engaged with the gear.

6. vacuum cup machinery hand as claimed in claim 5, which is characterized in that described second support bar one end is equipped with second gear Block, the other end are equipped with a fixed block, and the support portion is equipped with the accommodating cavity for housing the fixed block.

7. vacuum cup machinery hand as claimed in claim 6, which is characterized in that the fixed block is equipped with support pad, institute It states support pad and is equipped with buffering spacer.

8. vacuum cup machinery hand as described in claim 1, which is characterized in that the Suction cup assembly includes connecting rod, locking Nut and sucker, the connecting rod are threaded through in the waist type groove of the external part, and connecting rod passes through locking nut and stretching End connection, the sucker extend away from end one end mounted on connecting rod.

9. vacuum cup machinery hand as claimed in claim 8, which is characterized in that spring is arranged in the connecting rod, it is described Sucker is equipped with abutting part, and the both ends of the spring is abutted with abutting part and external part bottom surface respectively.