CN219255607U

CN219255607U - Multi-angle self-adaptation sucking disc structure

Info

Publication number: CN219255607U
Application number: CN202223432271.3U
Authority: CN
Inventors: 白国超; 陈如仲
Original assignee: Zhixing Gaoke Beijing Technology Co ltd
Current assignee: Zhixing Gaoke Beijing Technology Co ltd
Priority date: 2022-12-21
Filing date: 2022-12-21
Publication date: 2023-06-27
Anticipated expiration: 2032-12-21

Abstract

The utility model discloses a multi-angle self-adaptive sucker structure, which belongs to the technical field of sucker manipulators and comprises a bottom plate, a sucker, a top plate, a cross rod and a plurality of telescopic rods, wherein the sucker is arranged on the bottom plate and used for adsorbing a workpiece; the cross rod comprises two shaft rods which are integrally formed and vertically intersected, the bottom plate can rotate relative to the top plate by taking any shaft rod as an axis, and the telescopic rod rods extend out and are used for abutting against the top plate or the bottom plate which rotates relative to the telescopic rod rods to limit the rotation angle of the bottom plate. In this scheme sucking disc rotatable range increases, closely laminates with the work piece, avoids losing the package.

Description

Multi-angle self-adaptation sucking disc structure

Technical Field

The utility model belongs to the technical field of sucker manipulators, and particularly relates to a multi-angle self-adaptive sucker structure.

Background

The sucker is an adsorption tool which interacts with the surface of a workpiece by utilizing the difference between the internal and external atmospheric pressure so as to generate adsorption force.

Because the workpiece to be sucked has uneven thickness, uneven placement, self-form and other reasons, the upper surface of the workpiece is not parallel to the sucker, when the sucker sucks the workpiece, a gap exists between the sucker and the surface of the workpiece, the cavity in the sucker cannot be sealed, negative pressure suction workpiece cannot be formed, even if the sucker sucks the workpiece, the adhesion degree of the workpiece and the sucker is low, after the mechanical arm moves to shake the workpiece, gaps are easily generated between the sucker and the workpiece, the gaps are breathable, negative pressure in the cavity disappears, and the workpiece falls off during carrying; the suction cup is therefore typically connected to the robotic arm using an directionally deformable elastic structure or floating joint. For example, chinese patent No. CN214269316U discloses a self-adapting chuck for uneven workpieces, which is realized by a telescopic guide rod and a floating joint.

The floating angle of the floating structure is +/-5 degrees, the device is only suitable for workpieces with micro-uneven surfaces, the problem that the sucker cannot absorb and packet loss occurs after absorption can be relieved but cannot be thoroughly solved, the connection strength between the mechanical arm and the sucker is reduced no matter the floating structure or the elastic structure, and the upper limit of the weight of the workpiece absorbed by the sucker and transferred by the mechanical arm is reduced.

Disclosure of Invention

In order to solve the technical problems, the technical scheme of the utility model is as follows: a multi-angle self-adaptive sucker structure comprises a bottom plate, a sucker, a top plate, a cross rod and a plurality of telescopic rods, wherein the sucker is arranged on the bottom plate and used for sucking a workpiece;

the cross rod comprises two shaft rods which are integrally formed and vertically intersected, the bottom plate can rotate relative to the top plate by taking any shaft rod as an axis, and the telescopic rod rods extend out and are used for abutting against the top plate or the bottom plate which rotates relative to the telescopic rod rods to limit the rotation angle of the bottom plate.

Specifically, the telescopic rods are inclined to the top plate.

Specifically, the telescopic rod is an air cylinder.

Specifically, the cylinder is equipped with a sensor to detect whether the suction cup reaches a maximum rotation angle.

Specifically, still including setting up a plurality of elastic components between bottom plate and roof, the roof is all connected to the one end of every elastic component, and the bottom plate is all connected to the other end.

Specifically, the elastic piece includes the extension spring, and the extension spring both ends all are provided with the hook, and roof and bottom plate all are provided with the ring spare that supplies the hook to connect.

Specifically, still include the mounting panel that is used for connecting the arm, mounting panel and roof are parallel to each other, and are connected with the elastic structure along vertical roof direction deformation between the two.

Specifically, the elastic structure comprises a guide hole formed in the top plate, a guide rod with one end connected with the mounting plate and the other end moving back and forth along the guide hole, and a spring sleeved on the periphery of the guide rod.

Compared with the prior art, the technical scheme provided by the utility model has the following advantages:

1. the cross rod is arranged, after the sucker contacts a workpiece, the angle between the sucker and the workpiece is adjusted by the cross rod, the relative position between the sucker and the top plate is changed, the maximum rotatable angle of the sucker reaches +/-30 degrees, and even if the angle deviation of the workpiece is large, the sucker can be highly attached to the surface of the workpiece, the suction is firm, and the packet loss after the suction is avoided.

2. The cross rod only rotates relative to the top plate and the bottom plate, the connecting structure between the top plate and the bottom plate is compact, deformation and large displacement are avoided, and the connecting strength of the top plate and the bottom plate is ensured.

3. The telescopic rod is arranged to limit the rotation angle of the sucker, so that the sucker can only perform angular displacement in a set angle, excessive rotation is prevented, and large-amplitude shaking is avoided when a workpiece moves.

Drawings

FIG. 1 is a block diagram of the overall structure of a multi-angle adaptive chuck in an embodiment of the utility model;

FIG. 2 is a block diagram of a gimbal assembly according to an embodiment of the present utility model;

fig. 3 is a cross bar structure diagram in an embodiment of the utility model.

The figure shows:

1. a mounting plate; 2. a top plate; 3. a bottom plate; 4. an elastic structure; 41. a guide hole; 42. a guide rod; 43. a spring; 5. a universal assembly; 51. a cross bar; 511. a first shaft; 512. a second shaft; 52. an upper shaft plate; 53. a lower shaft plate; 6. a limit component; 61. a first telescopic rod; 611. a cylinder; 612. an air bar; 613. a silica gel head; 62. a second telescopic rod; 7. an elastic member; 71. a tension spring; 72. a hook; 73. a first ring member; 74. a second ring member; 8. and a sucking disc.

Detailed Description

For ease of understanding, the multi-angle adaptive chuck structure is described below in connection with embodiments, which are to be understood as merely illustrative of the present utility model and not limiting the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions and positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1, a multi-angle self-adaptation sucking disc structure, including mounting panel 1, roof 2 and bottom plate 3 that set gradually from last to down, mounting panel 1 fixed connection arm, and be on a parallel with roof 2, be provided with between mounting panel 1 and the roof 2 can follow the elastic structure 4 of perpendicular roof 2 direction deformation, be provided with universal subassembly 5 between roof 2 and the bottom plate 3, spacing subassembly 6 and a plurality of elastic component 7, install sucking disc 8 on the lower surface of bottom plate 3, sucking disc 8 is used for adsorbing fixed work piece, the arm drives sucking disc 8 and removes, and then shifts the work piece position.

The elastic structure 4 comprises guide holes 41, guide rods 42 and springs 43, two through guide holes 41 are formed in four corners of the top plate 2, one guide rod 42 is inserted into each guide hole 41, the upper ends of the guide rods 42 are fixedly connected with the mounting plate 1, the lower ends of the guide rods are moved relative to the top plate 2 along the guide holes 41, the springs 43 are sleeved on the peripheries of the guide rods 42, the upper ends of the springs 43 are fixedly connected with the mounting plate 1, the lower ends of the springs are fixedly connected with the top plate 2, after the suckers 8 are subjected to vertical pressure, the top plate 2 can be moved along the guide rods 42, the suckers 8 move along the vertical direction, the springs 43 are extruded, and the springs 43 are pushed back to the initial positions through deformation of the springs 43.

The four elastic pieces 7 are provided, each elastic piece 7 comprises a tension spring 71, hooks 72 arranged at two ends of the tension spring 71, a first ring piece 73 arranged at the corner of the bottom plate 3 and a second ring piece 74 arranged at the corner of the top plate 2, the positions of the first ring piece 73 and the second ring piece 74 are opposite, the hooks 72 at one end of the tension spring 71 are hooked with the first ring piece 73, the hooks 72 at the other end of the tension spring 71 are hooked with the second ring piece 74, the tension spring 71 has elasticity, and the suction disc 8 is prevented from generating larger angular displacement instantaneously through elastic deformation.

As shown in fig. 2 to 3, the universal assembly 5 includes a cross rod 51, an upper shaft plate 52 and a lower shaft plate 53, the cross rod 51 includes a first shaft rod 511 and a second shaft rod 512 which are integrally formed and vertically intersected, the upper shaft plate 52 is N-shaped, the lower shaft plate 53 is U-shaped, wherein the upper shaft plate 52 is fixedly connected to the lower bottom surface of the top plate 2, both ends of the first shaft rod 511 are rotatably connected to the upper shaft plate 52 through bearings, the lower shaft plate 53 is fixedly connected to the upper bottom surface of the bottom plate 3, both ends of the second shaft rod 512 are rotatably connected to the lower shaft plate 53 through bearings, the bottom plate 3 can rotate relative to the top plate 2 with the first shaft rod 511 as an axis, and also can rotate relative to the top plate 2 with the second shaft rod 512 as an axis, because the top plate 2 is relatively fixed and the bottom plate 3 and the cross rod 51 synchronously rotate when the bottom plate 3 rotates with the second shaft rod 512 as an axis, the bottom plate 3 rotates.

The limiting component 6 comprises a first telescopic rod 61 installed at two ends of the upper shaft plate 52 and a second telescopic rod 62 installed at two ends of the lower shaft plate 53, wherein the first telescopic rod 61 extends towards the bottom plate 3, when the bottom plate 3 rotates by taking the second shaft rod 512 as an axis, the first telescopic rod 61 is used for abutting against the bottom plate 3 to limit the rotation angle of the bottom plate 3, the second telescopic rod 62 extends towards the top plate 2, when the bottom plate 3 rotates by taking the first shaft rod 511 as an axis, the bottom plate 3 rotation angle is limited, the first telescopic rod 61 and the second telescopic rod 62 are four, each of the upper shaft plate 52 and the lower shaft plate 53 is provided with two telescopic rods parallel to each other, the extendable end part of each telescopic rod is outwards opened, is inclined relative to the top plate 2, and the telescopic rods at two ends of the coaxial rods are splayed and abut against the top plate 2 or the bottom plate 3, and the whole structure is stable; the first telescopic rod 61 and the second telescopic rod 62 in this embodiment are all air cylinders, each air cylinder comprises a cylinder body 611, an air rod 612, a silica gel head 613 and a sensor, one end of the air rod 612 is movably connected with the cylinder body 611, the other end of the air rod 612 is provided with the silica gel head 613, the air rod is prevented from being damaged by the silica gel head 613 being abutted against the top plate 2 and the bottom plate 3, the sensor is used for detecting the extending length of the air rod 612, and a signal can be sent after the sucker 8 reaches the maximum angle.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting. Although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments may be modified or some or all of the technical features may be replaced with other technical features, which do not depart from the scope of the technical scheme of the embodiments of the present utility model.

Claims

1. The multi-angle self-adaptive sucking disc structure is characterized by comprising a bottom plate, a sucking disc, a top plate, a cross rod and a plurality of telescopic rods, wherein the sucking disc and the top plate are arranged on the bottom plate and used for sucking a workpiece;

2. The multi-angle adaptive suction cup structure according to claim 1, wherein a plurality of said telescopic rods are inclined with respect to the top plate.

3. The multi-angle adaptive suction cup structure of claim 2, wherein the telescopic rod is a cylinder.

4. A multi-angle adaptive suction cup structure according to claim 3, wherein the cylinder is equipped with a sensor for detecting whether the suction cup reaches a maximum rotation angle.

5. The multi-angle adaptive suction cup structure of claim 1, further comprising a plurality of elastic members disposed between the bottom plate and the top plate, wherein one end of each elastic member is connected to the top plate, and the other end is connected to the bottom plate.

6. The multi-angle self-adaptive suction cup structure according to claim 5, wherein the elastic member comprises a tension spring, hooks are arranged at two ends of the tension spring, and ring members for connecting the hooks are arranged on the top plate and the bottom plate.

7. The multi-angle adaptive suction cup structure according to claim 1, further comprising a mounting plate for connecting the mechanical arm, wherein the mounting plate is parallel to the top plate, and an elastic structure is connected between the mounting plate and the top plate, wherein the elastic structure deforms along a direction perpendicular to the top plate.

8. The multi-angle self-adaptive suction cup structure according to claim 7, wherein the elastic structure comprises a guide hole formed in the top plate, a guide rod with one end connected with the mounting plate and the other end reciprocating along the guide hole, and a spring sleeved on the periphery of the guide rod.