CN214561023U - Negative pressure adsorption type mechanical arm - Google Patents
Negative pressure adsorption type mechanical arm Download PDFInfo
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- CN214561023U CN214561023U CN202120037347.9U CN202120037347U CN214561023U CN 214561023 U CN214561023 U CN 214561023U CN 202120037347 U CN202120037347 U CN 202120037347U CN 214561023 U CN214561023 U CN 214561023U
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- suction nozzle
- work piece
- spring
- negative pressure
- lifting plate
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Abstract
The utility model relates to a manipulator technical field discloses a negative pressure adsorbs formula manipulator, including frame and adsorption equipment, but adsorption equipment frame elevating movement relatively, adsorption equipment include gas string, suction nozzle and spring, and the lower extreme at the gas string is connected to the suction nozzle, and the spring housing is established on the gas string, and the upper end of the lower extreme butt suction nozzle of spring. When sucking the work piece, the relative frame of adsorption equipment descends in order to be close to the work piece, and make the suction nozzle press on the work piece, because the upper end butt of suction nozzle has the spring, consequently, the compressible volume of suction nozzle can set up to be a little bigger than traditional suction nozzle, even the thickness of work piece changes, also difficult emergence adsorbs the condition of unstability or crushing work piece, when mentioning the work piece, the supplementary suction nozzle of spring kick-backs, the guide pillar of trachea post as the spring, can make the spring produce even elasticity to the suction nozzle, make the suction nozzle can kick-back to initial shape, the accuracy of work piece position has been guaranteed, be favorable to accurately carrying the work piece to the target location.
Description
Technical Field
The utility model relates to a manipulator technical field, concretely relates to negative pressure adsorption type manipulator.
Background
Among the prior art, negative pressure adsorption type manipulator adopts the sucking disc to adsorb the work piece, when adsorbing the work piece, the sucking disc moves down and presses on the work piece, under the effect of pressure, certain deformation will take place for the sucking disc, when mentioning the work piece, the sucking disc will resume the appearance gradually, resume the in-process of appearance at the sucking disc, the degree that the material of different positions resumes on the sucking disc is different, will lead to adsorbed work piece to produce certain slope or rotation, when carrying out the operation that has higher requirement to the position of work piece such as inserted sheet, will lead to the work piece to obtain inaccurate location, make the work piece can't put into the assigned position, in addition, when the thickness of work piece is inconsistent, the manipulator moves down the in-process of getting the material, take place easily and adsorb the circumstances of unstable or crushing work piece.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned technical problem that prior art exists, the utility model provides a negative pressure adsorbs formula manipulator can make the sucking disc kick-back steadily, guarantees that the position of work piece is accurate.
The utility model provides a technical scheme that its technical problem adopted is: a negative pressure adsorption type mechanical arm comprises a frame; adsorption equipment, it can be relative frame elevating movement, including trachea post, suction nozzle and spring, the suction nozzle is connected the lower extreme of trachea post, the spring housing is established on the trachea post, just the lower extreme butt of spring the upper end of suction nozzle, the upper end intercommunication negative pressure source of trachea post.
The negative pressure adsorption type manipulator further comprises a bidirectional rotating motor, the bidirectional rotating motor can move up and down relative to the rack, and the bidirectional rotating motor can drive the adsorption device to swing in a vertical plane.
The negative pressure adsorption type manipulator further comprises a rotation motor, the rotation motor can move up and down relative to the bidirectional rotating motor, and the rotation motor can drive the adsorption device to rotate in a horizontal plane.
The frame is rotatably connected with a lifting shaft, the lower end of the lifting shaft is connected with a bidirectional rotating motor, and the output end of the bidirectional rotating motor is connected with the adsorption device.
The output end of the bidirectional rotating motor is connected with a first lifting plate, and the adsorption device is installed on the first lifting plate.
In the negative pressure adsorption type manipulator, the first lifting plate is fixedly connected with a cylinder, the output end of the cylinder is connected with a second lifting plate, the cylinder can drive the second lifting plate to move up and down, the rotation motor is installed on the second lifting plate, and the output end of the rotation motor is connected with the adsorption device.
The utility model discloses a negative pressure adsorbs formula manipulator has following beneficial effect at least: when sucking the work piece, the relative frame of adsorption equipment descends in order to be close to the work piece, and make the suction nozzle press on the work piece, because the upper end butt of suction nozzle has the spring, consequently, the compressible volume of suction nozzle can set up to be a little bigger than traditional suction nozzle, even the thickness of work piece changes, also difficult emergence adsorbs the condition of unstability or crushing work piece, when mentioning the work piece, the supplementary suction nozzle of spring kick-backs, the guide pillar of trachea post as the spring, can make the spring produce even elasticity to the suction nozzle, make the suction nozzle can kick-back to initial shape, the accuracy of work piece position has been guaranteed, be favorable to accurately carrying the work piece to the target location.
Drawings
The invention will be further described with reference to the following figures and examples, in which:
fig. 1 is a schematic view of an overall structure of a manipulator according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a relationship between the adsorption device and the first lifting plate and the second lifting plate;
fig. 3 is a diagram illustrating a relationship between the adsorption device and the rotation motor according to an embodiment of the present invention.
In the drawings: 100 frames, 200 adsorption devices, 210 gas columns, 220 suction nozzles, 230 springs, 300 bidirectional rotating motors, 400 autorotation motors, 500 lifting shafts, 600 first lifting plates, 700 cylinders and 800 second lifting plates.
Detailed Description
The embodiment of the utility model discloses a detailed description below, refer to fig. 1 to 3, the embodiment of the utility model provides a negative pressure adsorption type manipulator, including frame 100 and adsorption equipment 200, adsorption equipment 200 frame 100 elevating movement relatively, adsorption equipment 200 includes trachea post 210, suction nozzle 220 and spring 230, and suction nozzle 220 connects the lower extreme at trachea post 210, and the spring 230 cover is established on trachea post 210, and the lower extreme butt suction nozzle 220's of spring 230 upper end, trachea post 210's upper end intercommunication negative pressure source. When a workpiece is sucked, the suction device 200 descends relative to the rack 100 to be close to the workpiece, and the suction nozzle 220 is pressed on the workpiece, because the upper end of the suction nozzle 220 is abutted with the spring 230, the compressible amount of the suction nozzle 220 can be set to be larger than that of the traditional suction nozzle 220, even if the thickness of the workpiece changes, the situation of unstable suction or workpiece crushing is not easy to occur, when the workpiece is lifted, the spring 230 assists the suction nozzle 220 to rebound, the air pipe column 210 is used as a guide post of the spring 230, so that the spring 230 can generate uniform elastic force on the suction nozzle 220, the suction nozzle 220 can rebound to the initial shape, the accuracy of the position of the workpiece is ensured, and the workpiece is favorably and accurately conveyed to the target position.
Referring to fig. 1, the manipulator further includes a bidirectional rotating motor 300, the bidirectional rotating motor 300 is capable of moving up and down relative to the rack 100, the bidirectional rotating motor 300 is capable of driving the adsorption device 200 to swing in a vertical plane without stopping the manipulator, when the manipulator is used for performing operations such as inserting pieces and the like, since the workpiece is kept parallel to a horizontal plane when being extracted, and when the bidirectional rotating motor 300 rotates a certain amount according to a specified requirement, the position of the workpiece is not deviated, so that the workpiece can be accurately inserted into an inserting piece groove.
In some embodiments, the robot further includes a rotation motor 400, the rotation motor 400 is capable of moving up and down with respect to the bi-directional rotation motor 300, and the rotation motor 400 is capable of rotating the suction device 200 in a horizontal plane. When the rotation motor 400 is engaged and locked, the workpiece will not rotate, and when the workpiece is transferred, the rotation motor 400 can drive the workpiece to rotate by a specified angle, and the tool can be conveyed to any specified position by matching with the use of the bidirectional rotating motor 300.
Referring to fig. 1, a lifting shaft 500 is rotatably connected to the frame 100, a lower end of the lifting shaft 500 is connected to the bidirectional rotating motor 300, an output end of the bidirectional rotating motor 300 is connected to the adsorption device 200, and when the lifting shaft 500 rotates relative to the frame 100, the lifting shaft 500 performs a lifting motion relative to the frame 100, so as to drive the bidirectional rotating motor 300 to perform a lifting motion. Further, the output end of the bidirectional rotating motor 300 is connected with the first lifting plate 600, the adsorption device 200 is installed on the first lifting plate 600, and when the bidirectional rotating motor 300 performs lifting motion, the first lifting plate 600 and the adsorption device 200 can be driven to perform lifting motion, so that the adsorption device 200 is close to a workpiece, and of course, a ball screw structure can be selected for transmission.
Further, referring to fig. 2, an air cylinder 700 is fixedly connected to the first lifting plate 600, an output end of the air cylinder 700 is connected to the second lifting plate 800, the air cylinder 700 can drive the second lifting plate 800 to move up and down, the rotation motor 400 is installed on the second lifting plate 800, and an output end of the rotation motor 400 is connected to the adsorption device 200. The lifting shaft 500 can drive the adsorption device 200 to rapidly descend to approach the workpiece, and at this time, in order to reduce the impact force between the suction nozzle 220 and the workpiece, the lifting shaft 500 stops moving, the suction nozzle 220 is driven by the air cylinder 700 to move downwards, and the suction nozzle 220 is slowly pressed on the workpiece, so that the workpiece is not damaged.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the gist of the present invention within the knowledge range of those skilled in the art.
Claims (6)
1. A negative pressure adsorption type manipulator is characterized by comprising
A frame (100);
adsorption equipment (200), can be relative frame (100) elevating movement, including gas column (210), suction nozzle (220) and spring (230), suction nozzle (220) are connected the lower extreme of gas column (210), spring (230) cover is established on gas column (210), just the lower extreme butt of spring (230) the upper end of suction nozzle (220), the upper end intercommunication negative pressure source of gas column (210).
2. The negative pressure adsorption type manipulator according to claim 1, further comprising a bidirectional rotating motor (300), wherein the bidirectional rotating motor (300) can move up and down relative to the frame (100), and the bidirectional rotating motor (300) can drive the adsorption device (200) to swing in a vertical plane.
3. The negative pressure adsorption type manipulator according to claim 2, further comprising a rotation motor (400), wherein the rotation motor (400) can move up and down relative to the bidirectional rotation motor (300), and the rotation motor (400) can drive the adsorption device (200) to rotate in a horizontal plane.
4. The negative pressure adsorption type manipulator according to claim 3, wherein a lifting shaft (500) is rotatably connected to the frame (100), the lower end of the lifting shaft (500) is connected to the bidirectional rotating motor (300), and the output end of the bidirectional rotating motor (300) is connected to the adsorption device (200).
5. The negative pressure adsorption type manipulator according to claim 3, wherein the output end of the bidirectional rotating motor (300) is connected with a first lifting plate (600), and the adsorption device (200) is mounted on the first lifting plate (600).
6. The negative-pressure adsorption manipulator according to claim 5, wherein a cylinder (700) is fixedly connected to the first lifting plate (600), a second lifting plate (800) is connected to an output end of the cylinder (700), the cylinder (700) can drive the second lifting plate (800) to move up and down, the rotation motor (400) is mounted on the second lifting plate (800), and an output end of the rotation motor (400) is connected to the adsorption device (200).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120037347.9U CN214561023U (en) | 2021-01-07 | 2021-01-07 | Negative pressure adsorption type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120037347.9U CN214561023U (en) | 2021-01-07 | 2021-01-07 | Negative pressure adsorption type mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN214561023U true CN214561023U (en) | 2021-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120037347.9U Active CN214561023U (en) | 2021-01-07 | 2021-01-07 | Negative pressure adsorption type mechanical arm |
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| Country | Link |
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| CN (1) | CN214561023U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114273823A (en) * | 2021-12-27 | 2022-04-05 | 中建材浚鑫科技有限公司 | Automatic cloth tape device of converging belt of M10 battery pack |
| CN116727260A (en) * | 2023-04-25 | 2023-09-12 | 浙江赛摩智能科技有限公司 | Multistation AI defect visual inspection system |
-
2021
- 2021-01-07 CN CN202120037347.9U patent/CN214561023U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114273823A (en) * | 2021-12-27 | 2022-04-05 | 中建材浚鑫科技有限公司 | Automatic cloth tape device of converging belt of M10 battery pack |
| CN116727260A (en) * | 2023-04-25 | 2023-09-12 | 浙江赛摩智能科技有限公司 | Multistation AI defect visual inspection system |
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