CN219882523U - Sucking disc gripping apparatus suitable for special-shaped parts - Google Patents

Abstract

The utility model relates to a sucker gripper applicable to special-shaped parts, which comprises a frame body, wherein a plurality of vacuum adsorption assemblies and a plurality of limiting assemblies are arranged on the frame body, each vacuum adsorption assembly comprises a vacuum sucker and a supporting pipeline for communicating the vacuum sucker, each limiting assembly comprises a supporting rod and an elastic limiting block which are fixedly connected, the elastic limiting blocks and the vacuum sucker are positioned on the same side of the frame body, and the adsorption ends of the vacuum sucker face to an object to be gripped; the support pipeline and the support rod are mounted on the frame body through the telescopic self-locking assembly. The utility model has the effect of ensuring the working efficiency while expanding the application range of the sucker gripper.

Description

Sucking disc gripping apparatus suitable for special-shaped parts

Technical Field

The utility model relates to the technical field of grabbing devices, in particular to a sucker grabbing tool applicable to special-shaped parts.

Background

In the working procedures of carrying, gluing and the like of modern automobile glass, the grabbing work of the glass is usually completed by a robot instead of a manual mode, and the production efficiency is greatly improved. Typically, the glass is placed on a positioning device before being grasped in order for the robot to perform the grasping operation.

The end of the robot working arm is provided with a sucker gripping apparatus, the existing sucker gripping apparatus comprises a bracket, a limiting block, a vacuum sucker and a vacuum generator, and the vacuum sucker is communicated with the vacuum generator through a pipeline. Wherein vacuum chuck and stopper are provided with a plurality ofly, and a plurality of vacuum chuck and stopper all set up in the bottom surface of support. At the in-process of snatching glass, the robot drives sucking disc tongs and removes to positioner, and the in-process vacuum chuck that removes contacts glass, then glass can adsorb on vacuum chuck under vacuum generator's effect to realize sucking disc tongs and to glass's snatch work, and at vacuum chuck in-process of adsorbing glass, the stopper plays limiting displacement, avoids glass's deformation and breaks.

However, in the existing sucker gripper, the height of the vacuum sucker is generally set to be a fixed value, so that certain requirements are imposed on the size, shape and radian of the sucked glass; the vacuum chuck in part of the prior art can be manually adjusted in height, and although the application range of the chuck clamp can be enlarged, the process is complicated, and the working efficiency is low.

Disclosure of Invention

In order to expand the application range of the sucker gripper and ensure the working efficiency, the utility model provides the sucker gripper applicable to special-shaped parts.

The utility model provides a sucker gripping apparatus suitable for special-shaped parts, which adopts the following technical scheme:

the utility model provides a be suitable for sucking disc gripping apparatus of dysmorphism part, includes the support body, be provided with a plurality of vacuum adsorption components and a plurality of spacing subassembly on the support body, vacuum adsorption component includes vacuum chuck and is used for the intercommunication vacuum chuck's support pipeline, spacing subassembly includes fixed connection's bracing piece and elasticity stopper, elasticity stopper with vacuum chuck is located the homonymy of support body, vacuum chuck's adsorption end is towards waiting to snatch the object; the method is characterized in that: the support pipeline and the support rod are mounted on the frame body through a telescopic self-locking assembly.

By adopting the technical scheme, for the object to be grabbed with a certain radian, the position of the elastic limiting block is changed through the telescopic self-locking assembly, so that the object to be grabbed is prevented from being extruded to deform or crack by the vacuum chuck; when the support body is close to waiting to snatch the object gradually, vacuum chuck can change self position through flexible auto-lock subassembly to make vacuum chuck adsorb on glass as far as possible, improve the adsorption affinity to waiting to snatch the object that has certain radian, make the robot snatch waiting to snatch the object and carry out next process steadily, guarantee work efficiency when expanding sucking disc gripping apparatus application range.

Preferably, the telescopic self-locking assembly comprises an elastic piece, a clamping device and a limiting piece, wherein the limiting piece is arranged at one end of the supporting pipeline, which is close to the vacuum chuck, and one end of the supporting rod, which is close to the elastic limiting piece, the clamping device is positioned at one end of the limiting piece, which is close to the frame body, and the clamping device is clamped on the supporting pipeline and the supporting rod, and the clamping device is used for clamping the supporting pipeline on the supporting rod; the elastic piece is arranged between the clamping device and the limiting piece.

Through adopting above-mentioned technical scheme, when vacuum suction disc is close to the object of waiting to snatch gradually, the elastic component begins to compress, and vacuum chuck can laminate the radian of waiting to snatch the object as far as possible, when vacuum suction disc and wait to snatch and form the vacuum between the object, utilize the clamp through pressing from both sides the flexible degree of tight support pipe and bracing piece locking elastic component to the position of locking vacuum chuck and elasticity stopper improves the adsorption affinity of waiting to snatch the object.

Preferably, the clamping device comprises a clamping driving piece, a box body and a movable rod, wherein the box body is close to the supporting pipeline and extends to form a clamping arm, a first through hole is formed in the clamping arm along the length direction of the supporting pipeline, and the supporting pipeline is arranged in the first through hole in a penetrating mode; the movable rod comprises a first rod and a second rod which are integrally formed, the first rod is positioned in the box body, the second rod is arranged in the clamping arm, a second through hole is formed in the second rod along the length direction of the supporting pipeline, the first through hole and the second through hole are coaxial, and the diameter of the second through hole is larger than that of the first through hole; the clamping driving piece is used for driving the first rod to be close to or far away from one face of the box body, which is provided with the clamping elastic piece, the movable rod is provided with a rotating shaft along the center position of the length direction of the movable rod, the length direction of the rotating shaft is perpendicular to the length direction of the movable rod, and two ends of the rotating shaft are rotationally connected to the clamping arms.

By adopting the technical scheme, when the clamping device does not play a clamping role, the clamping driving piece is not started, and the supporting pipeline and the supporting rod can slide in the first through hole and the second through hole; when the clamping device plays a clamping role, the clamping driving piece pushes the first rod, so that the clamping elastic piece starts to compress, the movable rod starts to rotate by taking the rotating shaft as a rotating axis, the second rod moves in a direction away from the vacuum chuck and the limiting block, the supporting pipeline and the supporting rod are clamped between the inner wall of the first through hole and the inner wall of the second through hole, the clamping role is played, the positions of the supporting pipeline and the supporting rod are locked, and the positions of the vacuum chuck and the limiting block are locked; when the clamp is required to restore to a non-working state, the clamping elastic piece pushes the first rod to return to the initial position, so that the support pipeline and the support rod can slide in the first through hole and the second through hole again.

Preferably, the device further comprises a mounting assembly, wherein the mounting assembly is arranged on the support pipeline and the support rod and comprises a mounting ball, a first mounting clamp and a second mounting clamp; the installation ball sleeve is arranged on the support pipeline and the support rod, arc grooves are formed in two sides, close to each other, of the first installation clamp and the second installation clamp, and the installation ball is clamped in the arc grooves.

Through adopting above-mentioned technical scheme, the absorption angle of vacuum chuck can be changed to the mode that utilizes the rotation installation ball to make vacuum chuck can laminate the range of waiting to snatch the object more, further improve vacuum chuck and wait to snatch the adsorption affinity of object.

Preferably, the frame body is further provided with a lifting driving assembly and a standby sucker, and the standby sucker is installed on the lifting driving assembly through the installation assembly; the adsorption end of the standby sucker faces the object to be grabbed, and the standby sucker is connected with the supporting pipeline.

Through adopting above-mentioned technical scheme, when vacuum suction disc wait to snatch the adsorption affinity of object not enough, utilize lift drive assembly to push away reserve sucking disc to waiting to snatch the object to improve the grabbing force of sucking disc tongs, and then realize waiting to snatch the object to more specifications.

Preferably, the lifting driving assembly comprises a lifting driving piece, and the lifting driving piece is used for driving the first mounting clamp and/or the second mounting clamp to be close to or far away from the object to be grabbed.

Through adopting above-mentioned technical scheme, utilize lift driving piece to promote reserve sucking disc to waiting to snatch the object and remove to make reserve sucking disc can put into use.

Preferably, a first ranging sensor is arranged on the first mounting clamp and/or the second mounting clamp on the standby sucker, and a probe of the first ranging sensor faces the object to be grabbed.

Through adopting above-mentioned technical scheme, utilize first range finding sensor can respond to reserve sucking disc and wait to snatch the distance between the object, after first range finding sensor senses waiting to snatch the object and is adsorbed by reserve sucking disc to make lift driving piece stop motion, avoid lift driving piece and still work after waiting to snatch the object in place and show, realize waiting to snatch the protection of object.

Preferably, the end part of the elastic limiting block, which is close to the object to be grabbed, is arranged to be in an arc surface structure.

Through adopting above-mentioned technical scheme, utilize the elasticity stopper to reduce the injury of treating grabbing the object, after spacing subassembly plays spacing effect, utilize cambered surface structure can make the stopper more laminate and treat grabbing the surface of object to can treat grabbing the object and play the effect of absorption radian.

Preferably, a second ranging sensor is arranged on the frame body, and a probe of the second ranging sensor faces the object to be grabbed.

Through adopting above-mentioned technical scheme, utilize the second range finding sensor to detect whether to adsorb glass on the vacuum chuck, after the vacuum chuck snatches glass for a long time, the second range finding sensor sends alarm signal, reminds relevant staff as soon as possible to operate the robot and drive waiting to snatch the object and carry out next process as soon as possible or operate the chuck anchor clamps and put down glass to avoid vacuum generator's long-time work.

Preferably, the vacuum adsorption assembly further comprises a pipeline for communicating with the support pipeline, and a one-way valve is arranged on the pipeline.

Through adopting above-mentioned technical scheme, when one or more connection ports of vacuum generator breaks down and leads to can not evacuating the air in the vacuum chuck, utilize the check valve can make the vacuum chuck inside can maintain the vacuum state of a period of time, thereby relevant staff can take some protection measures in this period of time to avoid waiting to snatch the object and damage because falling as far as possible, for example relevant staff can place the blotter in this period of time in waiting to snatch the below of object to make waiting to snatch the object drop on the blotter, play the guard action.

In summary, the present utility model includes at least one of the following beneficial technical effects: the positions of the elastic limiting block and the vacuum chuck can be properly adjusted according to the specification of the object to be grabbed by utilizing the elastic piece, so that the vacuum chuck can be attached to the object to be grabbed as much as possible, the grabbing force of the object to be grabbed is improved, the application range of the utility model is enlarged, and the working efficiency can be ensured; then the clamping device is used for locking the positions of the vacuum chuck and the elastic limiting block so as to facilitate the robot to move the object to be grabbed; in addition, according to the specification of the glass, the standby sucker is selectively put into use, and after the standby sucker is put into use through the lifting driving assembly, the adsorption force of the object to be grabbed can be further improved, so that the application range of the utility model is further widened.

Drawings

FIG. 1 is a schematic overall structure of an embodiment of the present utility model;

FIG. 2 is an exploded view of a vacuum chuck and mounting assembly in accordance with an embodiment of the present utility model;

FIG. 3 is an exploded view of a vacuum chuck, mounting assembly and telescoping self-locking assembly in accordance with an embodiment of the present utility model;

FIG. 4 is a schematic perspective view of a clamp according to an embodiment of the present utility model;

FIG. 5 is a schematic structural view of a limiting assembly and a telescopic self-locking assembly according to an embodiment of the present utility model;

FIG. 6 is a schematic view of the lift drive assembly and the standby chuck in an embodiment of the present utility model;

FIG. 7 is a schematic diagram of a configuration of a check valve and a second distance measurement sensor according to an embodiment of the present utility model;

reference numerals: 1. a frame body; 11. a connecting piece; 21. a vacuum chuck; 211. a first joint; 22. supporting the pipeline; 222. a second joint; 23. a vacuum generator; 3. a mounting assembly; 31. a first mounting clip; 32. a second mounting clip; 33. a mounting ball; 4. a telescopic self-locking assembly; 41. an elastic member; 42. a clamp; 421. clamping the driving member; 422. a clamping arm; 423. a housing; 433. a linear bearing; 425. a mounting ring; 426. a case; 4271. a first lever; 4272. a second lever; 428. a rotating shaft; 429. clamping the elastic piece; 43. a limiting piece; 5. a limit component; 51. a support rod; 52. an elastic limiting block; 6. a lifting driving assembly; 61. a mounting member; 62. a lifting driving member; 63. a first ranging sensor; 7. a standby sucker; 8. a second ranging sensor; 9. a one-way valve.

Detailed Description

The utility model is described in further detail below with reference to fig. 1-7.

The embodiment of the utility model discloses a sucker gripper applicable to special-shaped parts.

Referring to fig. 1, a suction cup gripping apparatus for special-shaped parts comprises a frame body 1, wherein one side of the frame body 1 is provided with a plurality of vacuum suction assemblies and a plurality of limiting assemblies 5, each vacuum suction assembly comprises a vacuum suction cup 21, and the plurality of vacuum suction cups 21 are respectively arranged at the edge of the frame body 1 and the center position of the frame body 1. In this embodiment, the object to be grasped is set to be glass, and the suction end of the vacuum chuck 21 faces the glass for sucking and grasping the glass. The plurality of limiting components 5 are arranged on the periphery of the frame body 1 and play a role in limiting. The vacuum adsorption assembly 2 further comprises a vacuum generator 23 arranged on the frame body 1 and used for controlling whether vacuum is formed in the vacuum chuck 21, and when the vacuum generator 23 detects that the vacuum chuck 21 is in a vacuum state, the vacuum generator 23 outputs a feedback signal to a robot control system, so that the robot can grasp glass. The frame body 1 is also provided with a mounting component 3 for mounting the vacuum chuck 21, wherein the vacuum chuck 21 positioned in the center of the frame body 1 is also provided with a telescopic self-locking component 4. And, the limiting component 5 is also provided with a telescopic self-locking component 4. The limiting assembly 5 can adjust the limiting position through the telescopic self-locking assembly 4, and the vacuum chuck 21 can adsorb more glasses with different radians through the telescopic self-locking assembly 4, so that the application range of the chuck gripping apparatus is enlarged, and meanwhile, the automation of the height adjustment of the vacuum chuck 21 can be realized, and the working efficiency is ensured. In addition, the stand body 1 is further provided with a lifting driving assembly 6 and a standby sucker 7, the standby sucker 7 is arranged on the stand body 1 through the lifting driving assembly 6, and whether the standby sucker 7 is put into use or not is selected according to requirements, so that the application range of the sucker gripping apparatus is further widened.

Referring to fig. 1, the whole frame body 1 is a rectangular frame, and in this embodiment, the frame body 1 is welded by adopting a steel structure, so as to ensure the firmness and durability of the present utility model. The center department that the frame body 1 was kept away from one side that is provided with the sucking disc subassembly is provided with connecting piece 11, and connecting piece 11 is used for installing frame body 1 at the robot arm end. According to the utility model, the connecting piece 11 is connected with the tail end of the robot arm by adopting a six-axis flange, so that the flexible movement of the tail end of the robot is facilitated. The vacuum generators 23 are provided in plurality, and the plurality of vacuum generators 23 are provided on the same side of the frame body 1 where the connection members 11 are provided.

Referring to fig. 2, a first joint 211 is provided at one end of each vacuum chuck 21 close to the frame body 1, a support pipe 22 is connected to one end of the first joint 211 far away from the vacuum chuck 21, and a second joint 222 is installed at one end of the support pipe 22 far away from the vacuum chuck 21. The second connector 222 is provided as an L-shaped adapter, one end of the second connector 222 is communicated with the vacuum chuck 21 through the support pipe 22, and the other end of the second connector 222 is communicated with the vacuum generator 23 through the pipe. The connection port of each vacuum generator 23 is connected to one vacuum chuck 21, so that the vacuum generator 23 can independently control each vacuum chuck 21, and when a certain pipeline or supporting pipeline 22 fails, the other vacuum chucks 21 can still maintain the vacuum state.

Referring to fig. 1 and 2, the mounting assembly 3 is provided as a mounting jig including a first mounting clip 31, a second mounting clip 32, and a mounting ball 33. The mounting ball 33 is sleeved at one end of the support pipe 22 far away from the vacuum chuck 21, a through hole is directly formed in the mounting ball 33 along one of the mounting balls, and the support pipe 22 is penetrated in the through hole. The whole first mounting clamp 31 and the second mounting clamp 32 are both cuboid, and one side of the first mounting clamp 31, which is far away from the vacuum chuck 21, is mounted at the bottom of the frame body 1, which is provided with the vacuum chuck 21. The center of one face of the first mounting clamp 31, which is close to each other, of the first mounting clamp 31 is provided with symmetrical arc grooves, and the cambered surfaces of the arc grooves are attached to the radian of the mounting ball 33. The second mounting clip 32 is located the both sides of arc wall and has seted up the fixed orifices, and the fixed slot has been seted up for the position of fixed orifices to first mounting clip 31, and the fixed slot is close to first mounting clip 31 fluting. Bolts penetrate through the fixing holes from one side, away from the first mounting clamp 31, of the second mounting clamp 32 and are fixed in the fixing grooves. The mounting ball 33 can be clamped in the mounting fixture through the adjusting bolt, and meanwhile, the angle between the vacuum chuck 21 and the glass can be adjusted by rotating the mounting ball 33, so that the adsorption accuracy is improved. In addition, a lock nut sleeved on the support pipe 22 is arranged on one side of the mounting ball 33 away from the vacuum chuck 21, so that the position of the mounting ball 33 relative to the support pipe 22 is more firmly locked, and the height of the vacuum chuck 21 is not easy to change in the process of grabbing glass.

Referring to fig. 3 and 4, the telescopic self-locking assembly 4 includes an elastic member 41, a clamp 42 and a limiting member 43, wherein the elastic member 41 is configured as a telescopic spring, and the elastic member 41 is slidably sleeved on the support pipe 22. The limiting piece 43 is arranged between the mounting ball 33 and the first joint 211, the limiting piece 43 is in a circular ring shape, and the supporting pipeline 22 is sleeved in the limiting piece 43. The limiting piece 43 is provided with an opening parallel to the length direction of the support pipeline 22, and the limiting piece 43 realizes locking positioning and unscrewing adjustment through a thread structure arranged at the opening. The elastic member 41 is located between the stopper 43 and the mounting ball 33, one end of the elastic member 41 is connected to the stopper 43, and the other end of the elastic member 41 is connected to the mounting ball 33. In the process of grabbing glass, the vacuum chuck 21 positioned at the center is pushed by the glass along the direction where the length direction of the support pipeline 22 is close to the frame body 1, so that the elastic piece 41 starts to compress, the vacuum chuck 21 positioned at the center can be more attached to the radian of the glass, and the adsorption effect on the glass is enhanced.

Referring to fig. 4, the clamper 42 includes a clamping driving member 421 and a casing 426, and both the clamping driving member 421 and the casing 426 are rectangular parallelepiped. The telescopic rod of the clamping driving piece 421 is arranged on one surface, close to the glass, of the clamping driving piece 421, the surface, provided with the telescopic rod, of the box 426 towards the corresponding clamping driving piece 421 is arranged as an open surface, and the open surface is in butt joint with the surface, provided with the telescopic rod, of the clamping driving piece 421. The clamping arm 422 extends to the side of the box 426, which is close to the support pipe 22, the clamping arm 422 is cylindrical, the length direction of the clamping arm 422 is perpendicular to the length direction of the support pipe 22, and the clamping arm 422 is provided with a cylindrical first through hole along the length direction of the support pipe 22. The box 426 and the clamping arm 422 are internally provided with movable rods, each movable rod comprises a first rod 4271 and a second rod 4272 which are integrally formed, the first rod 4271 is in a cuboid shape, the second rod 4272 is in a cylindrical shape, and the length directions of the first rod 4271 and the second rod 4272 are parallel to the length direction of the clamping arm 422. The end of the second rod 4272 away from the first rod 4271 is located inside the case 426, and the end of the telescopic rod of the clamp driving member 421 away from the clamp driving member 421 abuts against the side of the first rod 4271 away from the vacuum chuck 21. The second rod 4272 is provided with a cylindrical second through hole along the length direction of the support pipe 22, the rotation axes of the second through hole and the first through hole are coincident, the diameter of the second through hole is larger than that of the first through hole, and the support pipe 22 is sleeved in the first through hole and the second through hole. One end of the first rod 4271 near the second rod 4272 is provided with a rotation shaft 428, the length direction of the rotation shaft 428 is perpendicular to the length direction of the first rod 4271 and the length direction of the support pipe 22, and both ends of the rotation shaft 428 are rotatably connected to the clamping arms 422. The first rod 4271 is provided with a clamping elastic member 429 at one end away from the clamping driving member 421, and one end of the clamping elastic member 429 abuts on the first rod 4271, and the other end of the clamping elastic member 429 abuts on one side of the case 426 away from the clamping driving member 421. To prevent displacement of the clamping spring 429, a recess is provided in the housing 426 at a position for abutting the clamping spring 429, the end of the clamping spring 429 remote from the first rod 4271 being disposed in the recess.

When the clamp 42 is not operated, the clamp driving member 421 is not operated, and the support pipe 22 can slide in the first through hole and the second through hole; when the clamping device 42 works, the clamping driving piece 421 pushes the first rod 4271, so that the clamping elastic piece 429 starts to compress, the movable rod starts to rotate by taking the rotating shaft 428 as a rotating axis, so that the second rod 4272 moves in a direction away from the vacuum chuck 21, the support pipeline 22 is clamped between the inner wall of the first through hole and the inner wall of the second through hole, the clamping effect is achieved, the position of the support pipeline 22 is locked, and the position of the vacuum chuck 21 is locked; when the clamp is required to return to the rest state, the clamp elastic member 429 pushes the first rod 4271 back to the initial position, so that the support pipe 22 can slide in the first through hole and the second through hole again.

In addition, referring to fig. 3, the clamper 42 is further provided with a housing 423, the housing 423 is entirely rectangular parallelepiped, and the longitudinal direction of the housing 423 is parallel to the longitudinal direction of the support pipe 22. The housing 423 is used for covering the clamping arm 422 and the second rod 4272, and plays a role in protecting the clamping device 42 and the second rod 4272. When the elastic member 41 starts to compress, the distance between the vacuum chuck 21 and the frame 1 is gradually shortened, and in the process, if the vacuum generator 23 outputs a vacuum feedback signal, the clamping device 42 immediately clamps the support pipe 22, locking the distance between the vacuum chuck 21 and the frame 1; when all vacuum generators 23 output vacuum feedback signals, the driving clamp 42 immediately activates the clamping function, thereby locking the position of the support pipe 22 for the subsequent production cycle.

Referring to fig. 3 and 4, in order to improve the smoothness of the sliding of the support pipe 22, the clamp 42 is further provided with two linear bearings 433, and the two linear bearings 433 are sleeved on the support pipe 22. One of the linear bearings 433 is located at an end of the housing 423 remote from the vacuum chuck 21, and the other linear bearing 433 is located at an end of the mounting ball 33 near the vacuum chuck 21. The two linear bearings 433 are each provided with a mounting ring 425 on a side away from the clamping arm 422, and the mounting rings 425 are respectively mounted on the housing 423 and the mounting ball 33 by a screw structure. In addition, a stopper 43 is provided at a side of the clamper 42 remote from the vacuum chuck 21 for limiting a distance between the vacuum chuck 21 and the frame body 1 in an initial state.

Referring to fig. 4 and 5, the limiting assembly 5 includes an elastic limiting block 52 and a supporting rod 51, the elastic limiting block 52 is far away from the whole and is cylindrical, and the cylindrical length direction is parallel to the moving direction of the elastic limiting block 52. The elastic limiting block 52 is made of nylon and other materials with certain elasticity, so that damage of the elastic limiting block 52 to glass is reduced. The elastic limiting block 52 is used for contacting one end of glass and is set to be of an arc surface structure, so that the limiting block can be more attached to the surface of an object to be grabbed, and the effect of absorbing radian can be achieved on the glass. The elastic limiting block 52 is also provided with the telescopic self-locking assembly 4, and the difference is that: the supporting rod 51 is mounted on the frame body 1 through the housing 423 on the clamper 42, the supporting rod 51 is penetrated in the first through hole and the second through hole, and the limiting member 43 is provided as a lock nut.

Referring to fig. 6, in this embodiment, two sets of lift driving assemblies 6 are provided, a plurality of standby suction cups 7 are provided on one side of each set of lift driving assemblies 6 close to the glass, and the two sets of lift driving assemblies 6 are all provided on the same side of the frame 1. The standby sucker 7 and the vacuum sucker 21 have similar structures, and in the utility model, the standby sucker 7 is provided with three standby suckers, so that the diameter of the standby sucker 7 is smaller than that of the vacuum sucker 21, and the installation is convenient. The adsorption end of the standby sucker 7 faces the glass, and the first mounting clamp 31, the second mounting clamp 32 and the mounting ball 33 are also arranged on the support pipeline 22 of the standby sucker 7. In this embodiment, the first mounting clip 31 on the standby sucker 7 is integrally T-shaped, and the second mounting clip 32 is provided with three.

Referring to fig. 6, the mounting member 61 is formed in a plate shape as a whole, one end of the mounting member 61 in the longitudinal direction is mounted above the frame body 1 provided with the connecting member 11, and the other end of the mounting member 61 in the longitudinal direction is used for mounting the elevation driving member 62. The lifting driving member 62 is generally rectangular, and the longitudinal direction of the lifting driving member 62 is parallel to the lifting direction of the standby suction cup 7. One end of the lifting driving member 62 is arranged below the mounting member 61 close to the glass, the lifting driving member 62 is arranged as a lifting cylinder in the utility model, the telescopic rod of the lifting driving member 62 is arranged below the lifting driving member 62 far away from the mounting member 61, and one end of the telescopic rod of the lifting driving member 62 far away from the lifting driving member 62 is connected to one side of the first mounting clamp 31 far away from the standby sucker 7. The lifting driving piece 62 drives the first mounting clamp 31 to be close to or far away from the glass through the telescopic rod, so as to drive the standby sucker 7 to lift.

Referring to fig. 6, according to the actual specifications of the glass, the personnel selectively control the throw-in or throw-out of the standby sucker 7 through the control system. The first mounting clamp 31 on the standby sucker 7 is also provided with a first distance measuring sensor 63, in the utility model, the first distance measuring sensor 63 is an ultrasonic sensor, and the probe of the first distance measuring sensor 63 faces the glass. When the first distance measuring sensor 63 detects that the glass is in place, namely, the glass is absorbed by the standby sucker 7 at the moment, the first distance measuring sensor 63 outputs a braking signal to the control system, the control system brakes the lifting driving piece 62 according to the received braking signal, and the lifting driving piece 62 is prevented from continuously pushing the standby sucker 7 to the direction where the glass is located, so that the protection of the glass is realized.

Referring to fig. 7, the bottom of the frame body 1 provided with the vacuum chuck 21 is provided with a plurality of second ranging sensors 8 for detecting whether the glass is gripped by the current chuck gripper. In the present utility model, the second distance measuring sensor 8 is provided as an ultrasonic sensor, and the probe of the second distance measuring sensor 8 faces the glass. When the second ranging sensor 8 detects that the vacuum chuck 21 grabs glass for a long time, the second ranging sensor 8 sends an alarm signal to the control system to remind related staff to operate the robot as soon as possible to drive an object to be grabbed to carry out the next process as soon as possible or operate the chuck grabber to put down the glass, so that the condition that the vacuum chuck 21 grabs the glass continuously for a long time is avoided.

In addition, the frame body 1 is provided with a plurality of check valves 9, and the check valves 9 are installed on a pipe for communication between the vacuum generator 23 and the support pipe 22. When one of the connection ports of the vacuum generator 23 is unexpectedly stopped, the vacuum chuck 21 can be maintained in a vacuum state for a while by using the check valve 9. During the period, related staff can timely protect the dropped glass by arranging protection modes such as an air cushion and the like below the frame body 1, so that the occurrence of glass breakage is reduced. In addition, a negative pressure meter is added to each of the two groups of the pipelines of the vacuum chucks 21 so as to determine whether the vacuum circuit fails, and when the vacuum circuit fails, the vacuum generator 23 can timely send an alarm signal to the control system to remind relevant staff to take corresponding protective measures.

The process for grabbing glass is as follows: before grabbing the glass, the angle between the vacuum chuck 21 and the glass is adjusted by utilizing the glass specification collected by the positioning device, the elastic limiting block 52 is arranged at a proper position through the telescopic self-locking assembly 4, and the elastic limiting block 52 is provided with a certain telescopic allowance. When the glass is grasped, the vacuum generator 23 starts to work, the robot drives the frame body 1 to move towards the direction of the glass, and in the moving process, the vacuum chuck 21 and the elastic limiting block 52 are simultaneously contacted with the glass or the vacuum chuck 21 is contacted with the glass at first; then the robot continues to push the frame body 1 to move, the elastic piece 41 starts to compress according to the specific shape of the glass, after the vacuum suction disc 21 and the glass are vacuumized, the vacuum generator 23 sends a feedback signal to the control system, and the control system starts the clamp 42 according to the received feedback signal, so that the distance between the vacuum suction disc 21 and the frame body 1 is locked; after all vacuum generators 23 send out feedback signals, the driving robot drives the glass after the adsorption is completed to carry out the next processing. If the standby sucker 7 is required to be put into use according to the specification of glass, the angle of the standby sucker 7 is adjusted before grabbing, after the vacuum sucker 21 is locked, the standby sucker 7 is driven to move towards the direction where the glass is located by the lifting driving piece 62, then the first ranging sensor 63 detects that the glass is in place and then outputs a braking signal to the control system, and the control system stops pushing the lifting driving piece 62 according to the received braking signal, so that the standby sucker 7 and the vacuum sucker 21 can absorb and grab the glass together.

The object to be grasped can be provided as other plate-like objects that can be sucked by vacuum, such as a smooth wooden board, a smooth tile, etc., in addition to glass.

The embodiment of the utility model provides a sucker gripper applicable to special-shaped parts, which comprises the following implementation principle: the telescopic self-locking assembly 4 is arranged on the supporting pipeline 22 of the vacuum chuck 21, so that the vacuum chuck 21 can change the distance between the vacuum chuck 21 and the frame body 1 according to the shape of glass, the compression degree of the elastic piece 41 can be locked through the clamping device 42, the distance between the vacuum chuck 21 and the frame body 1 is fixed, the glass specification range which can be grabbed by the utility model is enlarged, meanwhile, the automation of the height adjustment of the vacuum chuck 21 is realized, and the working efficiency is ensured; the telescopic self-locking assembly 4 arranged on the limiting assembly 5 can provide a limiting effect while the vacuum chuck 21 is movable, so that glass is prevented from being deformed or broken due to excessive adsorption by the vacuum chuck 21 to the greatest extent; the standby suction cup 7 is selectively put into use according to the specific shape of the glass, thereby enhancing the suction force to the glass and further expanding the application range of the present utility model.

The above embodiments are not intended to limit the scope of the present utility model, so: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.

Claims (10)

1. The utility model provides a be suitable for sucking disc gripping apparatus of dysmorphism part, includes support body (1), be provided with a plurality of vacuum adsorption components and a plurality of spacing subassembly (2) on support body (1), vacuum adsorption component includes vacuum chuck (21) and is used for the intercommunication support pipeline (22) of vacuum chuck (21), spacing subassembly includes fixed connection's bracing piece (51) and elasticity stopper (52), elasticity stopper (52) with vacuum chuck (21) are located the homonymy of support body (1), the adsorption end of vacuum chuck (21) is towards waiting to snatch the object; the method is characterized in that: the support pipeline (22) and the support rod (51) are mounted on the frame body (1) through the telescopic self-locking assembly (4).

2. Suction cup gripper for profiled parts according to claim 1, characterized in that: the telescopic self-locking assembly (4) comprises an elastic piece (41), a clamping device (42) and a limiting piece (43), wherein the limiting piece (43) is arranged at one end of the supporting pipeline (22) close to the vacuum chuck (21) and one end of the supporting rod (51) close to the elastic limiting piece (52), the clamping device (42) is arranged at one end of the limiting piece (43) close to the frame body (1), the clamping device (42) is clamped on the supporting pipeline (22) and the supporting rod (51), and the clamping device (42) is used for clamping the supporting pipeline (22) on the supporting rod (51); the elastic member (41) is disposed between the clamper (42) and the stopper (43).

3. Suction cup gripper for profiled parts according to claim 2, characterized in that: the clamping device (42) comprises a clamping driving piece (421), a box body (426) and a movable rod, wherein the box body (426) is close to the supporting pipeline (22) and extends to form a clamping arm (422), a first through hole is formed in the clamping arm (422) along the length direction of the supporting pipeline (22), and the supporting pipeline (22) is arranged in the first through hole in a penetrating mode; the movable rod comprises a first rod (4271) and a second rod (4272) which are integrally formed, the first rod (4271) is located in the box body (426), the second rod (4272) is arranged in the clamping arm (422), a second through hole is formed in the second rod (4272) along the length direction of the support pipeline (22), the first through hole and the second through hole are coaxial, and the diameter of the second through hole is larger than that of the first through hole; the novel movable rod comprises a first rod (4271) and is characterized in that a clamping elastic piece (429) is arranged between the side walls of the first rod (4271) and the side walls of the box body (426), the clamping driving piece (421) is used for driving the first rod (4271) to be close to or far away from one face, provided with the clamping elastic piece (429), of the box body (426), a rotating shaft (428) is arranged at the center position of the movable rod along the length direction of the movable rod, the length direction of the rotating shaft (428) is perpendicular to the length direction of the movable rod, and two ends of the rotating shaft (428) are rotationally connected to the clamping arms (422).

4. Suction cup gripper for profiled parts according to claim 1, characterized in that: the device further comprises a mounting assembly (3), wherein the mounting assembly (3) is arranged on the support pipeline (22) and the support rod (51), and the mounting assembly (3) comprises a mounting ball (33), a first mounting clamp (31) and a second mounting clamp (32); the installation ball (33) is sleeved on the support pipeline (22) and the support rod (51), arc grooves are formed in two sides, close to each other, of the first installation clamp (31) and the second installation clamp (32), and the installation ball (33) is clamped in the arc grooves.

5. The suction cup gripper for profiled parts according to claim 4, characterized in that: the lifting driving assembly (6) and the standby sucker (7) are further arranged on the frame body (1), and the standby sucker (7) is installed on the lifting driving assembly (6) through the installation assembly (3); the adsorption end of the standby sucker (7) faces to the object to be grabbed, and the standby sucker (7) is connected with the supporting pipeline (22).

6. The suction cup gripper for profiled parts according to claim 5, characterized in that: the lifting driving assembly (6) comprises a lifting driving piece (62) used for driving the first mounting clamp (31) and/or the second mounting clamp (32) to be close to or far away from the object to be grabbed.

7. The suction cup gripper for profiled parts as claimed in claim 6, wherein: the first mounting clamp (31) and/or the second mounting clamp (32) on the standby sucker (7) are/is provided with a first ranging sensor (63), and a probe of the first ranging sensor (63) faces towards the object to be grabbed.

8. Suction cup gripper for profiled parts according to claim 1, characterized in that: the end part of the elastic limiting block (52) close to the object to be grabbed is arranged to be of an arc surface structure.

9. Suction cup gripper for profiled parts according to claim 1, characterized in that: the frame body (1) is provided with a second ranging sensor (8), and a probe of the second ranging sensor (8) faces towards the object to be grabbed.

10. Suction cup gripper for profiled parts according to claim 1, characterized in that: the vacuum adsorption assembly further comprises a pipeline used for communicating the supporting pipeline (22), and a one-way valve (9) is arranged on the pipeline.