CN218619105U

CN218619105U - Sucking disc type tail end gripper

Info

Publication number: CN218619105U
Application number: CN202222925786.0U
Authority: CN
Inventors: 俞俊承
Original assignee: Shanghai Kumao Robot Co ltd
Current assignee: Shanghai Kumao Robot Co ltd
Priority date: 2022-11-03
Filing date: 2022-11-03
Publication date: 2023-03-14
Anticipated expiration: 2032-11-03

Abstract

The utility model relates to a manipulator technical field just discloses a terminal tongs of sucking disc formula, include: a bellows; the sucker is arranged at the bottom of the corrugated pipe, and the corrugated pipe is communicated with the sucker; the sucker cover is fixedly connected to the outer wall of the sucker; the workpiece surface wiping structure is arranged below the corrugated pipe; the workpiece surface wiping structure includes: four articulated pieces No. one, the bottom of symmetry and fixed connection bellows. Through the work piece surface cleaning structure who sets up, utilize four arc scraper blades to scrape the remaining dust of work piece top part outwards, later make the sucking disc firmly adsorb the region that the arc scraper blade was cleared up again, avoid the sucking disc to be stained with the risk that the dust caused to drop for a long time, simple structure, this terminal tongs practicality of sucking disc formula is strong, the suggestion is promoted.

Description

Sucker type tail end gripper

Technical Field

The utility model relates to a manipulator technical field specifically is a terminal tongs of sucking disc formula.

Background

With the rapid development of robot technology and its wide application in various fields, as the last execution component of interaction between a robot and the environment, the end effector plays a very important role in improving the intelligence level and the operation level of the robot, and the research on the working capacity of the end effector of the robot is greatly emphasized.

The sucker type gripper is used for gripping objects by adsorbing the surfaces of the objects, is generally used for gripping objects with thin thickness, and can grip a workpiece with a smooth surface through a sucker, so that the smooth surface of the workpiece is not damaged, and a gripping tool is not needed; and current terminal tongs of sucking disc formula is at the in-process that uses, and the sucking disc is direct to be contacted with the object, firmly adsorbs the object, but the surface of object is smooth again, and the top is difficult to avoid to have remaining dust, is stained with the dust back for a long time at the sucking disc, probably takes place the risk that drops when adsorbing. To this end, we propose a suction-cup type end gripper to solve the problems of the background art.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a terminal tongs of sucking disc formula reaches the purpose of solving above-mentioned problem.

In order to achieve the above object, the utility model provides a following technical scheme: a suction cup type end grip, comprising:

a bellows;

the sucker is arranged at the bottom of the corrugated pipe, and the corrugated pipe is communicated with the sucker;

the sucker cover is fixedly connected to the outer wall of the sucker;

the workpiece surface wiping structure is arranged below the corrugated pipe;

the workpiece surface wiping structure includes:

the four first hinge blocks are symmetrically and fixedly connected with the bottom of the corrugated pipe;

one end of each of the four second connecting rods is hinged to the outer wall of the sucker cover through a first hinge block;

the other ends of the four first connecting rods are hinged to the tops of the four first sliding blocks through second hinging blocks respectively;

one end of each first connecting rod is fixedly connected to one side of each first sliding block;

the four arc-shaped scrapers are respectively and fixedly connected to the other ends of the four first connecting rods;

the four sliding chutes are respectively arranged at the tops of the four second connecting rods;

one end of each of the four third connecting rods is hinged to the bottom of the corrugated pipe through a first hinge block;

four No. two sliders, respectively sliding connection is at the cell wall of four spouts, four the other end of No. three connecting rod articulates the top at four No. two sliders through No. four articulated blocks.

Preferably, the method further comprises the following steps:

the mounting structure is arranged above the corrugated pipe;

the mounting structure includes:

the first extension plate is fixedly connected to the top of the corrugated pipe;

the second extension plate is fixedly connected to the top of the corrugated pipe;

one end of the threaded rod movably penetrates through one side of the second extension plate and is rotatably connected with one side of the first extension plate through a bearing, and opposite threads are arranged on the surface of the threaded rod;

the two moving blocks are respectively sleeved at opposite threads arranged on the surface of the threaded rod in a threaded manner, and the bottoms of the two moving blocks are in contact with the top of the corrugated pipe;

and the two U-shaped mounting plates are respectively and fixedly connected to the tops of the two moving blocks.

Preferably, the method further comprises the following steps:

the two fourth extension plates are respectively and fixedly connected to two sides of the corrugated pipe;

the two third extension plates are respectively and fixedly connected to two sides of the corrugated pipe;

two electric telescopic handle, respectively fixed mounting are at the top of two No. three extension boards, two electric telescopic handle's output respectively with the bottom fixed connection of two No. four extension boards.

Preferably, the four arc-shaped scrapers are respectively consistent with the four first sliders in height, so that the four first sliders move on the top of the workpiece, and the four arc-shaped scrapers are used for scraping dust remaining on the top of the workpiece outwards.

Preferably, the bottom of the sucker penetrates through the inner side of the sucker cover and extends downwards, so that the sucker can firmly adsorb an area cleaned by the arc-shaped scraper.

Preferably, two electric telescopic handle is respectively through electric wire and external power source electric connection, and the outside is provided with two electric telescopic handle's control switch respectively, utilizes external power source to give two electric telescopic handle supplies power, through the control switch who sets up, makes things convenient for operating personnel to control two electric telescopic handle.

Preferably, the mounting structure further comprises:

the eccentric wheel is fixedly connected to the other end of the threaded rod, and the threaded rod is convenient to rotate by an operator due to the arrangement of the eccentric wheel.

The utility model provides a terminal tongs of sucking disc formula. The method has the following beneficial effects:

(1) The utility model discloses a structure is cleaned on the work piece surface that sets up, utilizes four arc scraper blades to scrape the remaining dust of work piece top part outwards, later makes the sucking disc firmly adsorb the region that the arc scraper blade was cleared up, avoids the sucking disc to be stained with the dust for a long time and causes the risk that drops, simple structure, and this terminal tongs practicality of sucking disc formula is strong, the suggestion popularization.

(2) The utility model discloses a mounting structure who sets up makes two movable blocks be close to each other through waveing the eccentric wheel, utilizes two U-shaped mounting panels to install this device, plays easy to assemble's effect, when needs are dismantled, only needs to wave the eccentric wheel towards opposite direction, can accomplish the installation after dismantling.

Drawings

FIG. 1 is a front view of the present invention;

fig. 2 is a front view of the present invention;

FIG. 3 is a schematic structural view of a workpiece surface wiping structure according to the present invention;

fig. 4 is a schematic structural diagram of the mounting structure of the present invention.

In the figure: 1. a bellows; 2. a fourth extension plate; 3. an electric telescopic rod; 4. a workpiece surface wiping structure; 401. a first sliding block; 402. a first connecting rod; 403. a second connecting rod; 404. a third connecting rod; 405. a second sliding block; 406. an arc-shaped scraper plate; 5. a mounting structure; 501. an eccentric wheel; 502. a first extension plate; 503. a threaded rod; 504. a moving block; 505. a U-shaped mounting plate; 506. a second extension plate; 6. a third extension plate; 7. a sucker cover; 8. and (4) sucking discs.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

The first embodiment is as follows:

as shown in fig. 1-4, the utility model provides a technical solution: a suction cup type end grip, comprising: bellows 1, sucking disc 8, the setting is in the bottom of bellows 1, and bellows 1 and the setting of 8 intercommunications of sucking disc, sucking disc lid 7, fixed connection is at the outer wall of sucking disc 8, two No. four extension boards 2, fixed connection is in the both sides of bellows 1 respectively, two No. three extension boards 6, fixed connection is in the both sides of bellows 1 respectively, two electric telescopic handle 3, respectively fixed mounting is at the top of two No. three extension boards 6, two electric telescopic handle 3's output respectively with the bottom fixed connection of No. four extension boards 2, two electric telescopic handle 3 are respectively through electric wire and external power source electric connection, and the outside is provided with two electric telescopic handle 3's control switch respectively, utilize external power source to supply power for two electric telescopic handle 3, through the control switch who sets up, make things convenient for operating personnel to control two electric telescopic handle 3, work piece surface cleans structure 4, the setting is in the below of bellows 1, work piece surface cleans structure 4 and includes: four first hinged blocks, four first sliding blocks 401, four second connecting rods 403, one end of each first hinged block is hinged on the outer wall of the sucker cover 7, the other end of each first sliding block 401 is hinged on the top of the corresponding first sliding block 401, the other end of each second connecting rod 403 is hinged on the top of the corresponding first sliding block 401, four first connecting rods 402, one end of each first connecting rod 402 is fixedly connected on one side of the corresponding first sliding block 401, four arc-shaped scrapers 406 are fixedly connected on the other ends of the corresponding first connecting rods 402, the bottom of each sucker 8 penetrates through the inner side of the corresponding sucker cover 7 and extends downwards, so that the sucker 8 can firmly adsorb an area cleaned by the arc-shaped scrapers 406, four sliding grooves are formed in the tops of the four second connecting rods 403, the four third connecting rods 404, and one end of each third connecting rod 404 is hinged on the bottom of the corrugated pipe 1 through the corresponding first hinged block, four No. two sliders 405, sliding connection is respectively at the cell walls of four spouts, the other end of four No. three connecting rods 404 articulates at the top of four No. two sliders 405 through No. four articulated pieces, four arc-shaped scraper blades 406 respectively with four highly uniform of a slider 401, make four sliders 401 remove at the top of work piece, utilize four arc-shaped scraper blades 406 to scrape remaining dust of work piece top part outwards, structure 4 is cleaned through the work piece surface that sets up, utilize four arc-shaped scraper blades 406 to scrape remaining dust of work piece top part outwards, later make sucking disc 8 firmly adsorb the region that the arc-shaped scraper blade was cleared up, avoid sucking disc 8 to be stained with the dust for a long time and cause the risk that drops, moreover, the steam generator is simple in structure, this sucking disc formula terminal tongs practicality is strong, the suggestion popularization.

In this embodiment, through starting two electric telescopic handle 3 from control switch, make two electric telescopic handle 3's output drive two No. four extension boards 2 respectively and draw down, make two extension 2 boards move bellows 1 extrusion, thereby with the inside gas outgoing of bellows 1, utilize outside lifting unit to drive this device downstream, until four sliders 401 move at the top of work piece, utilize four arc scraper blades 406 to scrape the remaining dust of work piece top part outwards, make sucking disc 8 can firmly adsorb the region that arc scraper blade 406 board was cleared up.

Example two:

as shown in fig. 1-4, on the basis of the first embodiment, the utility model provides a technical solution: preferably, the method comprises the following steps: mounting structure 5, the setting is in the top of bellows 1, and mounting structure 5 includes: the first extension plate 502 is fixedly connected to the top of the corrugated pipe 1, the second extension plate 506 is fixedly connected to the top of the corrugated pipe 1, a threaded rod 503 is fixedly connected to the top of the corrugated pipe 1, one end of the threaded rod is movably connected to one side of the second extension plate 506 in a penetrating mode and is rotatably connected to one side of the first extension plate 502 through a bearing, opposite threads are arranged on the surface of the threaded rod 503, an eccentric wheel 501 is fixedly connected to the other end of the threaded rod 503, the threaded rod 503 is convenient to rotate by an operator due to the arrangement of the eccentric wheel 501, two moving blocks 504 are respectively sleeved at the opposite threads arranged on the surface of the threaded rod 503 in a threaded sleeve mode, the bottoms of the two moving blocks 504 are in contact with the top of the corrugated pipe 1, two U-shaped mounting plates 505 are respectively and fixedly connected to the tops of the two moving blocks 504, the two moving blocks 504 are enabled to be close to each other through a mounting structure 5 arranged by shaking the eccentric wheel 501, the two U-shaped mounting plates 505 are used for mounting the device, the mounting is convenient to mount, and when the device needs to be dismounted, the device only by shaking the eccentric wheel 501 towards the opposite direction.

In this embodiment, the eccentric 501 is swung to rotate the threaded rod 503, so that the threaded rod 503 drives the two moving blocks 504 to approach each other, and the device is mounted by using the two U-shaped mounting plates 505.

When the device is used, the eccentric wheel 501 is shaken, the eccentric wheel 501 drives the threaded rod 503 to rotate, the threaded rod 503 drives the two moving blocks 504 to be close to each other, the device is installed by utilizing the two U-shaped mounting plates 505, then the two electric telescopic rods 3 are started from the control switch, the output ends of the two electric telescopic rods 3 respectively drive the two four extension plates 2 to be pulled downwards, the two first extension plates 2 drive the corrugated pipe 1 to extrude, the internal gas of the corrugated pipe 1 is discharged, the device is driven to move downwards by utilizing the external lifting assembly until the four first sliding blocks 401 move at the top of a workpiece, the residual dust at the top of the workpiece is scraped outwards by utilizing the four arc-shaped scraping plates 406, and the sucker 8 can firmly adsorb the region cleaned by the arc-shaped scraping plates 406.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a reference structure" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims

1. The utility model provides a terminal tongs of sucking disc formula which characterized in that includes:

a bellows (1);

the sucker (8) is arranged at the bottom of the corrugated pipe (1), and the corrugated pipe (1) is communicated with the sucker (8);

the sucker cover (7) is fixedly connected to the outer wall of the sucker (8);

the workpiece surface wiping structure (4) is arranged below the corrugated pipe (1);

the workpiece surface wiping structure (4) includes:

the four first hinge blocks are symmetrically and fixedly connected with the bottom of the corrugated pipe (1);

one end of each of the four second connecting rods (403) is hinged to the outer wall of the sucker cover (7) through a first hinge block;

the other ends of the four first connecting rods (403) are respectively hinged to the tops of the four first sliding blocks (401) through second hinge blocks;

one end of each of the four first connecting rods (402) is fixedly connected to one side of each of the four first sliding blocks (401);

the four arc-shaped scrapers (406) are respectively and fixedly connected to the other ends of the four first connecting rods (402);

the four sliding grooves are respectively arranged at the tops of the four second connecting rods (403);

one end of each of four third connecting rods (404) is hinged to the bottom of the corrugated pipe (1) through a first hinge block;

four No. two sliders (405), sliding connection is respectively at the cell wall of four spouts, four the other end of No. three connecting rod (404) articulates the top at four No. two sliders (405) through No. four articulated blocks.

2. The suction cup type end grip of claim 1, further comprising:

the mounting structure (5) is arranged above the corrugated pipe (1);

the mounting structure (5) includes:

the first extension plate (502) is fixedly connected to the top of the corrugated pipe (1);

the second extension plate (506) is fixedly connected to the top of the corrugated pipe (1);

one end of the threaded rod (503) movably penetrates through one side of the second extension plate (506) and is rotatably connected with one side of the first extension plate (502) through a bearing, and opposite threads are arranged on the surface of the threaded rod (503);

the two moving blocks (504) are respectively sleeved at opposite threads arranged on the surface of the threaded rod (503) in a threaded manner, and the bottoms of the two moving blocks (504) are in contact with the top of the corrugated pipe (1);

and the two U-shaped mounting plates (505) are respectively and fixedly connected to the tops of the two moving blocks (504).

3. The suction cup type end grip of claim 1, further comprising:

the two fourth extension plates (2) are respectively and fixedly connected to two sides of the corrugated pipe (1);

two third extension plates (6) which are respectively and fixedly connected with two sides of the corrugated pipe (1);

two electric telescopic handle (3), respectively fixed mounting are at the top of two No. three extension boards (6), two the output of electric telescopic handle (3) respectively with the bottom fixed connection of two No. four extension boards (2).

4. The suction cup type end grip of claim 1, wherein: the four arc-shaped scrapers (406) are respectively consistent with the heights of the four first sliding blocks (401).

5. The suction cup type end grip of claim 4, wherein: the bottom of the sucker (8) penetrates through the inner side of the sucker cover (7) and extends downwards.

6. A suction cup type end grip according to claim 3, characterized in that: the two electric telescopic rods (3) are respectively electrically connected with an external power supply through electric wires, and the outside of the electric telescopic rods is respectively provided with control switches of the two electric telescopic rods (3).

7. The suction cup type end grip according to claim 2, characterized in that: the mounting structure (5) further comprises:

the eccentric wheel (501) is fixedly connected with the other end of the threaded rod (503).