CN208179580U - A kind of sucker component of manipulator - Google Patents
A kind of sucker component of manipulator Download PDFInfo
- Publication number
- CN208179580U CN208179580U CN201820053655.9U CN201820053655U CN208179580U CN 208179580 U CN208179580 U CN 208179580U CN 201820053655 U CN201820053655 U CN 201820053655U CN 208179580 U CN208179580 U CN 208179580U
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- CN
- China
- Prior art keywords
- cylinder
- sucker
- sucker component
- electromagnet
- arm
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Abstract
The utility model discloses a kind of sucker components of manipulator, including mechanical arm, the mechanical arm is connected with sucker component, the sucker component includes arm cylinder and the cylinder barrel for being connected to arm cylinder lower end, electromagnet is installed in the arm cylinder, the side of the electromagnet is equipped with spring, the end of the spring is connected with the first permanent magnet, first permanent magnet is connected with cylinder rod, the cylinder rod extends into the cylinder barrel, the other end of cylinder rod is connect with piston block, and the cylinder barrel is equipped with sealing ring by tracheae connecting sucker, the bottom of sucker.For the utility model whole part without using air pump, structure is simple, easy to replace and maintain, can effectively reduce the production and maintenance cost of sucker component, effectively improve the service life of sucker component.
Description
Technical field
The utility model relates to workshop clamping device field, in particular to the sucker component of a kind of manipulator.
Background technique
Under life now, the progress of Science and Technology Day crescent benefit, the arm maximum difference of robot and the mankind are just
Be flexibility ratio and resistance to dynamics, that is, manipulator sharpest edges it is recursive do same movement, therefore, application is also got over
Come more extensive.Manipulator is a kind of high-tech automatic producing device that recent decades grow up, and has operation accurate, is suitable for
The ability of operation in various environment is an important branch of industrial robot, it can dexterously application of force equilibrium principle, it is right
Weight is carried accordingly, and mobile and positioning can be balanced to object.
Authorization Notice No. discloses a kind of manipulator sucker formula component for the utility model patent of CN205996995U, including
The working end of manipulator and the suction cup carrier for being rotatably connected on robot work end, wherein suction cup carrier includes being adapted with workpiece
Quadrangle connecting rod and the sucker for being connected to connecting rod lower end surface, sucker are connected with ventilation pipe, one end of ventilation pipe and suction
Disk connection, the other end of ventilation pipe are connected with air pump, and the lower end surface of connecting rod is also connected with guide post, booster air pump, sucker
Air pressure between workpiece surface is less than the air pressure outside sucker, the crawl to workpiece is completed, to solve in prior art, directly
It connects and grabs the problem of causing damage to shell to shell using manipulator.However, the device is complete to the crawl of material
The inflation and getter action of air pump are relied on, and air pump long-time service is easily worn, therefore replacement and inconvenient maintenance need
Design the sucker component of a manipulator without using air pump.
Utility model content
The utility model, can in view of the above-mentioned problems of the prior art, provide a kind of sucker component of manipulator
To effectively improve the service life of sucker component.
In order to achieve the above purpose, the utility model uses following technical measures:
A kind of sucker component of manipulator, including mechanical arm, the mechanical arm are connected with sucker component, the sucking disk part
Part includes arm cylinder and the cylinder barrel for being connected to arm cylinder lower end, and electromagnet, the side of the electromagnet are installed in the arm cylinder
Equipped with spring, the end of the spring is connected with the first permanent magnet, and the first permanent magnet is connected with cylinder rod, and the cylinder rod extends
Enter the cylinder barrel, the other end of cylinder rod is connect with piston block, and the cylinder barrel passes through tracheae connecting sucker, the bottom of sucker
Equipped with sealing ring.
Preferably, the other side of the electromagnet is equipped with magnetic isolation plate, the magnetic isolation plate is fixed on the arm by snap ring
In cylinder.
Preferably, the inner wall of the arm cylinder and cylinder barrel is equipped with wear-resistant pad.
Preferably, the arm cylinder is equipped with the second permanent magnet, the magnetic of second permanent magnet far from the electromagnet side
The gross area of pole is less than the gross area of the magnetic pole of the electromagnet.
Preferably, the sealing ring is made of omnipotent gel mat, the section of sealing ring is circular ring structure, sealing ring
Inside is filled with high-elastic sponge.
Preferably, the tracheae is connected through a screw thread the sucker.
Preferably, the mechanical arm includes pedestal, the pedestal is equipped with turntable, is fixed with the first ears on turntable
Seat, the first ears seat connects cursor by shaft, is connected with link block on the second ears seat of cursor, described
One end of link block is fixedly connected with the sucker component, and the other end is movably connected in by draw bar connection otic placode, the otic placode
In the shaft, cylinder is connected on otic placode, the cylinder is fixed on the first ears seat.
The utility model has the beneficial effects that:
Compared to traditional manipulator sucker component, the application is replaced using electromagnet, spring and the first permanent magnet combination
Tradition is deflated using air pump, inflation makes sucker and absorption of workpieces, separates, and when electromagnet energization, can generate powerful magnetic attraction,
Spring can be attached to electromagnet side in the effect of suction, thus pull the first permanent magnet mobile to the electromagnet side, institute
It states sucker and is placed on workpiece side, the first permanent magnet drives the cylinder rod mobile to separate sucker side, so that sucker
Interior air pressure is reduced rapidly, and tightly adsorbs workpiece, and for whole part without using air pump, structure is simple, easy to replace and maintain,
The production and maintenance cost that sucker component can be effectively reduced, can effectively improve the service life of sucker component.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the utility model sucker component.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
As Figure 1-Figure 2, the sucker component of a kind of manipulator, including mechanical arm 1, the mechanical arm 1 are connected with suction
Disk component, the sucker component include arm cylinder 2 and the cylinder barrel 3 for being connected to 2 lower end of arm cylinder, are installed with electricity in the arm cylinder 2
The side of magnet 4, the electromagnet 4 is equipped with spring 5, and the end of the spring 5 is connected with the first permanent magnet 6, the first permanent magnet 6
It is connected with cylinder rod 31, the cylinder rod 31 extends into the cylinder barrel 3, and the other end of cylinder rod 31 is connect with piston block 32,
The cylinder barrel 3 is equipped with sealing ring 9 by 7 connecting sucker 8 of tracheae, the bottom of sucker 8.When drawing workpiece, mechanical arm 1 controls institute
It states sucker 8 and is moved to workpiece side, 9 contact workpiece of sealing ring, so that 8 inner cavity of sucker forms sealing space, the electromagnet 4 is logical
Electricity can generate powerful magnetic attraction, and spring 5 can be attached to 4 side of electromagnet in the effect of suction, to pull the first permanent magnetism
Body 6 is mobile to 4 side of electromagnet, squeezes the spring 5, and first permanent magnet 6 drives the cylinder rod 31 to separate
8 side of sucker is mobile, so that the air pressure in sucker 8 is reduced rapidly, tightly adsorbs workpiece；When discharging workpiece, institute is disconnected
State the power supply of electromagnet 4, electromagnet 4 breaks magnetic, and the first permanent magnet 6 is under the action of gravity and 5 elastic deformation of spring restore to suction
8 side of disk is mobile, and pusher cylinder bar 31 moves forward, so that the air pressure in sucker 8 increases rapidly, the suction of sucker 8 is minimized,
Workpiece falls off from sucker 8.
In the present embodiment, the mechanical arm 1 includes pedestal 11, and the pedestal 11 is equipped with turntable 12, consolidates on turntable 12
Surely there is the first ears seat 13, the first ears seat 13 connects cursor 14, the second ears seat of cursor 14 by shaft 15
Link block 17 is connected on 16, one end of the link block 17 is fixedly connected with the sucker component, and the other end passes through traction
18 connection otic placode 19 of bar, the otic placode 19 are movably connected in the shaft 15, and cylinder 20, the cylinder are connected on otic placode 19
20 are fixed on the first ears seat 13.17 two sides of link block are connected with the second shaft, and pass through second shaft
Activity is connected to the second ears seat 16, and the piston rod of cylinder 20 is flexible, and the otic placode 19 can be pushed around 15 turns of the shaft
Dynamic, the both ends of draw bar 18 are respectively fixedly connected with the otic placode 19 and link block 17, and draw bar 18 is real under the action of otic placode 19
Existing angular displacement realizes that sucker component rotates upwardly and downwardly so that link block 17 be driven to rotate；It is all connected in the turntable 12 and shaft 15
There is rotating electric machine, turntable 12 can be driven to rotate by rotating electric machine, so that mechanical arm can realize 360 ° in the horizontal direction
Loading and unloading are rotated, by controlling the rotation of shaft 15, it can be achieved that cursor 14 rotates, to realize the angle tune of cursor 14
It is whole, convenient for the loading and unloading of mechanical arm, so that the scalability of entire manipulator is flexible.
The link block 17 is connect with the arm cylinder 2, in order to avoid magnetic force influences the link block when energization of electromagnet 4
17, the other side of the electromagnet 4 is equipped with magnetic isolation plate 10, and the magnetic isolation plate 10 is fixed in the arm cylinder 2 by snap ring.
First permanent magnet 6, piston block 32 can slide in the arm cylinder 2 and cylinder barrel 3 respectively, in order to reduce first
The inner wall of the abrasion that permanent magnet 6 and piston block 32 are subject in sliding process, the arm cylinder 2 and cylinder barrel 3 is equipped with resistance to
Pad 21 is ground, and in the present embodiment, the wear-resistant pad 21 uses PTFE anti-wear pad.
Preferably, the arm cylinder 2 is equipped with the second permanent magnet 22, second permanent magnet 22 far from 4 side of electromagnet
Magnetic pole the gross area be less than the electromagnet 4 magnetic pole the gross area so that the magnetism of second permanent magnet 22 be lower than institute
Generated magnetism when electromagnet 4 is powered is stated, therefore, when the electromagnet 4 is powered, the magnetic attraction of electromagnet 4 is greater than institute
The magnetic attraction of the second permanent magnet 22 is stated, the first permanent magnet 6 is separated with the second permanent magnet 22, close to the electromagnet 4 and squeeze
The spring 5 is pressed, when the electromagnet 4 power-off, the magnetic attraction of electromagnet 4 is less than the magnetic of second permanent magnet 22 and inhales
Power, the first permanent magnet 6 restores elastic force effect in the deformation of the magnetic attraction and spring 5 of the second permanent magnet 22 and separates with electromagnet 4, fast
Speed is attracted to second permanent magnet 22 close to and with the second permanent magnet 22, so that piston block 32 glides, is provided to sucker 8 powerful
Stream pressure, can accelerate sucker 8 discharge workpiece efficiency, to improve the working efficiency of manipulator.
The tracheae 7 is connected through a screw thread the sucker 8, by rotating suction disc 8 can realize sucker 8 separated with mechanical arm and
Connection replaces sucker 8 convenient for staff, in addition, the sealing ring 9 is made of omnipotent gel mat, when sealing ring 9 and workpiece
When contact, sealing ring 9 can be adsorbed on rapidly workpiece surface, to improve the sealing performance that sealing ring 9 is connect with workpiece, prevent from inhaling
In feeding gas leakage occurs for disk 8, and sucker 8 is caused to connect shakiness with workpiece, and the section of the sealing ring 9 is circular ring structure, sealing
The inside of ring 9 is filled with high-elastic sponge 91, and the deformation recovery capability of sealing ring 9 can be improved, prevent 9 influence of crust deformation of sealing ring from making
With.
In conclusion the application replaces tradition to deflate, fill using air pump using electromagnet, spring and the first permanent magnet combination
Gas makes sucker and absorption of workpieces, separates, and when electromagnet is powered, can generate powerful magnetic attraction, effect meeting of the spring in suction
It is attached to electromagnet side, to pull the first permanent magnet mobile to the electromagnet side, the sucker is placed on workpiece one
Side, the first permanent magnet drives the cylinder rod mobile to separate sucker side, so that the air pressure in sucker is reduced rapidly, tightly
Workpiece tightly is adsorbed, for whole part without using air pump, structure is simple, and it is easy to replace and maintain, sucker component can be effectively reduced
Production and maintenance cost, the service life of sucker component can be effectively improved.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is only limited to these instructions.For the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard
To belong to the protection scope of the utility model.
Claims (7)
1. a kind of sucker component of manipulator, including mechanical arm (1), the mechanical arm (1) is connected with sucker component, feature
It is, the sucker component includes arm cylinder (2) and the cylinder barrel (3) for being connected to arm cylinder (2) lower end, is consolidated in the arm cylinder (2)
Equipped with electromagnet (4), the side of the electromagnet (4) is equipped with spring (5), and the end of the spring (5) is connected with the first permanent magnetism
Iron (6), the first permanent magnet (6) are connected with cylinder rod (31), and the cylinder rod (31) extends into the cylinder barrel (3), cylinder rod
(31) the other end is connect with piston block (32), and the cylinder barrel (3) passes through tracheae (7) connecting sucker (8), the bottom of sucker (8)
Portion is equipped with sealing ring (9).
2. a kind of sucker component of manipulator according to claim 1, which is characterized in that the electromagnet (4) it is another
Side is equipped with magnetic isolation plate (10), and the magnetic isolation plate (10) is fixed in the arm cylinder (2) by snap ring.
3. a kind of sucker component of manipulator according to claim 1 or 2, which is characterized in that the arm cylinder (2) and
The inner wall of cylinder barrel (3) is equipped with wear-resistant pad (21).
4. a kind of sucker component of manipulator according to claim 1, which is characterized in that the arm cylinder (2) is far from institute
Electromagnet (4) side is stated equipped with the second permanent magnet (22), the gross area of the magnetic pole of second permanent magnet (22) is less than the electricity
The gross area of the magnetic pole of magnet (4).
5. a kind of sucker component of manipulator according to claim 1, which is characterized in that the sealing ring (9) uses
Omnipotent gel mat is made, and the section of sealing ring (9) is circular ring structure, and the inside of sealing ring (9) is filled with high-elastic sponge (91).
6. a kind of sucker component of manipulator according to claim 1, which is characterized in that the tracheae (7) passes through spiral shell
Line connects the sucker (8).
7. a kind of sucker component of manipulator according to claim 1, which is characterized in that the mechanical arm (1) includes
Pedestal (11), the pedestal (11) are equipped with turntable (12), are fixed with the first ears seat (13) on turntable (12), and described first pair
Ear mount (13) connects cursor (14) by shaft (15), is connected with connection on the second ears seat (16) of cursor (14)
Block (17), one end of the link block (17) are fixedly connected with the sucker component, and the other end passes through draw bar (18) connection otic placode
(19), the otic placode (19) is movably connected on the shaft (15), and cylinder (20), the cylinder are connected on otic placode (19)
(20) it is fixed on the first ears seat (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820053655.9U CN208179580U (en) | 2018-01-12 | 2018-01-12 | A kind of sucker component of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820053655.9U CN208179580U (en) | 2018-01-12 | 2018-01-12 | A kind of sucker component of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208179580U true CN208179580U (en) | 2018-12-04 |
Family
ID=64441915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820053655.9U Expired - Fee Related CN208179580U (en) | 2018-01-12 | 2018-01-12 | A kind of sucker component of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208179580U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948469A (en) * | 2019-10-29 | 2020-04-03 | 北京机械设备研究所 | Three-degree-of-freedom exoskeleton with four hydraulically-driven connecting rods |
-
2018
- 2018-01-12 CN CN201820053655.9U patent/CN208179580U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948469A (en) * | 2019-10-29 | 2020-04-03 | 北京机械设备研究所 | Three-degree-of-freedom exoskeleton with four hydraulically-driven connecting rods |
| CN110948469B (en) * | 2019-10-29 | 2021-12-03 | 北京机械设备研究所 | Three-degree-of-freedom exoskeleton with four hydraulically-driven connecting rods |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181204 Termination date: 20200112 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |