CN220575954U - Miniature end effector for small mechanical arm - Google Patents

Abstract

The utility model discloses a miniature end effector for a small mechanical arm, which comprises an effector shell, a circuit board and a sucker, wherein the circuit board is arranged on the effector shell; a first communicating pipe fitting and a second communicating pipe fitting which are mutually connected are arranged in the actuator shell, and two ends of the first communicating pipe fitting are connected with a miniature electromagnetic valve and a miniature vacuum pump; one end of the second communicating pipe fitting is communicated with the middle part of the first communicating pipe fitting, and the other end of the second communicating pipe fitting penetrates out of the actuator shell to be connected with the sucker; the circuit board is arranged in the executor casing and is respectively connected with the miniature electromagnetic valve and the miniature vacuum pump, the circuit board, the miniature electromagnetic valve and the miniature vacuum pump are reasonably distributed around the communicated pipe fitting arranged in the T-shaped structure, the size and the weight are greatly reduced, the convenience and the flexibility of operation are improved, the sucking disc and the miniature vacuum pump can be replaced by the same structure, the requirements of different miniature mechanical arm application scenes can be met, the adaptability of the whole device is stronger, and the installation is simpler and more convenient by the plug-in connection mode of the universal hole.

Description

Miniature end effector for small mechanical arm

Technical Field

The utility model belongs to the technical field of pneumatic control, and relates to a miniature end effector for a small mechanical arm.

Background

Under the age of rapid development of technology nowadays, along with the increasing demands on the working content of robots in production and life, the end effector for small-sized mechanical arms gradually increases and is applied to industrial production and life, the control mechanism and the pneumatic actuator of the end effector for the small-sized mechanical arms are designed in a separated mode, a plurality of connectors and pipelines are needed to be connected between all parts, the volume and the weight of the whole end effector are increased, the flexibility and the application scene of the mechanical arms are limited, and different pneumatic actuators and suction pumps are needed to be replaced when the end effector for the small-sized mechanical arms is used, so that the operation is complicated and the cost is high.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model aims to provide a miniature end effector for a small-sized mechanical arm, which can solve the technical problems of huge volume and complex operation of the end effector for the small-sized mechanical arm.

In order to solve the technical problems, the utility model adopts the following technical scheme:

a miniature end effector for a miniature mechanical arm comprises an effector shell and a sucker;

the actuator shell is internally provided with a first communication pipe fitting and a second communication pipe fitting which are connected with each other, one end of the first communication pipe fitting is connected with a miniature electromagnetic valve, and the other end of the first communication pipe fitting is connected with a miniature vacuum pump; one end of the second communicating pipe fitting is communicated with the middle part of the first communicating pipe fitting, and the other end of the second communicating pipe fitting penetrates out of the actuator shell to be connected with the sucker.

The utility model also comprises the following technical characteristics:

the actuator shell include shell main part and shell upper cover, the shell main part in be provided with horizontal fixed plate, a lateral wall of horizontal fixed plate and the vertical antetheca fixed connection of shell main part, first through-hole has been seted up along vertical on the horizontal fixed plate, has seted up the second through-hole on the bottom plate of shell main part, first through-hole and the coaxial setting of second through-hole, the other end of second intercommunication pipe fitting pass first through-hole and second through-hole in proper order and stretch to the shell main part outside.

The miniature electromagnetic valve is characterized by further comprising a circuit board, wherein the circuit board is arranged in the shell main body and is respectively connected with the miniature electromagnetic valve and the miniature vacuum pump.

The bottom plate of the shell main body is provided with an electromagnetic valve limiting frame and a circuit board fixing seat; the electromagnetic valve limiting frame and the circuit board fixing seat are respectively arranged on two lateral sides of the horizontal fixing plate, the miniature electromagnetic valve is arranged in the electromagnetic valve limiting frame, and the circuit board is fixedly arranged on the circuit board fixing seat.

A vacuum pump supporting component is arranged between the longitudinal rear wall of the shell main body and the horizontal fixing plate; the vacuum pump support assembly comprises a pair of support plates, the bottoms of the support plates are fixedly arranged on the bottom plate of the shell main body, arc-shaped support grooves are formed in the tops of the support plates, and the micro vacuum pump is placed on the two support grooves.

The upper cover of the shell in be provided with the spacing subassembly of vacuum pump, the spacing subassembly of vacuum pump include a pair of limiting plate, the limiting plate with backup pad one-to-one, the top fixed mounting of limiting plate is in the lower surface of upper cover of the shell, circular arc spacing groove has been seted up to the bottom of limiting plate.

The shell main body on set up the wiring hole, the circuit board include Grove interface, grove interface install in wiring hole department.

The electromagnetic valve limiting frame is provided with an electromagnetic valve vent hole at the bottom plate of the shell main body corresponding to the electromagnetic valve limiting frame.

The second communicating pipe fitting is sleeved with a first fixing nut and a second fixing nut, and the first fixing nut and the second fixing nut are respectively arranged at two vertical ends of the horizontal fixing plate.

The shell is characterized in that a plurality of lower mounting holes are formed in the shell main body, a plurality of upper mounting holes are formed in the shell upper cover, and the lower mounting holes are connected with the corresponding upper mounting holes through screws.

The upper cover of the shell is provided with a Legao general hole which is used for being connected with the tail end of the mechanical arm.

Compared with the prior art, the utility model has the following technical effects:

according to the utility model, the circuit board, the miniature electromagnetic valve and the miniature vacuum pump are reasonably distributed around the communicated pipe fitting arranged in the T-shaped structure and are connected through the soft air pipe, so that the miniature end effector suitable for the miniature mechanical arm is integrated, the installation is convenient, the volume and the weight are greatly reduced, the convenience and the flexibility of operation are improved, the sucking disc and the miniature vacuum pump can be replaced, the requirements of application scenes of different miniature mechanical arms can be met, the adaptability of the whole device is higher, and the installation is simpler and more convenient by the plug-in connection mode of the universal holes.

Drawings

Fig. 1 is a block diagram of the entire apparatus of the present utility model.

Fig. 2 is an exploded view of the overall device of the present utility model.

Fig. 3 is a schematic view of the main structure of the housing of the present utility model.

Fig. 4 is a bottom view of the housing body of the present utility model.

Fig. 5 is a top view of the housing upper cover of the present utility model.

Fig. 6 is a schematic structural view of the communication pipe fitting of the present utility model.

Fig. 7 is a reference diagram of the use state of the present utility model.

The meaning of each reference numeral in the figures is:

1. the actuator comprises an actuator shell, 2, a circuit board, 3, a sucker, 4, a miniature electromagnetic valve, 5, a miniature vacuum pump, 6, a first communicating pipe fitting, 7, a second communicating pipe fitting, 8, a horizontal fixing plate, 9, a first through hole, 10, a second through hole, 11, an electromagnetic valve limiting frame, 12, a circuit board fixing seat, 13, a vacuum pump supporting component, 14, a vacuum pump limiting component, 15, an electromagnetic valve vent hole, 16, a first fixing nut, 17, a second fixing nut, 18, a lower mounting hole, 19, an upper mounting hole, 20, a Legao fixing hole, 21, a sucker connector, 22, a mechanical arm tail end, 23, a Grove interface, 24, a through hole, 25 and a connecting piece;

1-1 parts of a shell main body, 1-2 parts of a shell upper cover, 1-3 parts of a wiring hole;

13-1, a supporting plate, 13-2 and a supporting groove;

14-1, limiting plates, 14-2 and limiting grooves.

The following examples illustrate the utility model in further detail.

Detailed Description

The following specific embodiments of the present utility model are given according to the above technical solutions, and it should be noted that the present utility model is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solutions of the present application fall within the protection scope of the present utility model.

In the present utility model, unless otherwise indicated, terms of orientation such as "upper", "lower", "left", "right", etc. are generally defined with reference to the drawings in the corresponding figures, and "inner", "outer" refer to the inner and outer of the corresponding component profiles, and "longitudinal", "transverse", "vertical" refer to the directions of reference in the figures.

Examples:

the embodiment provides a miniature end effector for a miniature mechanical arm, which is shown in fig. 1 to 7 and comprises an effector shell 1 and a sucker 3;

a first communication pipe fitting 6 and a second communication pipe fitting 7 which are mutually connected are arranged in the actuator shell 1, one end of the first communication pipe fitting 6 is connected with a miniature electromagnetic valve 4, and the other end of the first communication pipe fitting 6 is connected with a miniature vacuum pump 5; one end of the second communicating pipe fitting 7 is communicated with the middle part of the first communicating pipe fitting 6, and the other end of the second communicating pipe fitting 7 penetrates out of the actuator shell 1 to be connected with the sucker 3.

In this embodiment, the first communicating pipe 6 and the second communicating pipe 7 are metal pipe, the micro electromagnetic valve 4 and the micro vacuum pump 5 are connected with the first communicating pipe 6 through a soft air pipe (not shown), the micro vacuum pump 5 is used for providing vacuum power, when the micro vacuum pump 5 works, the first communicating pipe 6 and the second communicating pipe 7 are in a negative pressure state, and objects can be sucked through the suction disc 3; when the miniature electromagnetic valve 4 works, the miniature electromagnetic valve 4 is opened to be communicated with the outside air, and the negative pressure state in the first communication pipe fitting 6 and the second communication pipe fitting 7 is broken, so that an object sucked by the sucker 3 falls off; in this embodiment, the first communicating pipe fitting 6 and the second communicating pipe fitting 7 are in a T-shaped structure, and are connected with the miniature electromagnetic valve 4 and the miniature vacuum pump 5 through the soft air pipe, so that the whole device is reduced in volume to a certain extent, and is convenient to carry and install.

Further, the other end of the second communicating pipe fitting 7 is detachably provided with a sucker connector 21, the sucker 3 is arranged at the sucker connector 21, the sucker connector 21 is of a plurality of specifications, and the sucker connector 21 can be replaced according to the sizes of the suckers 3 of different specifications in the market.

As a preferred solution of this embodiment, the actuator casing 1 in this embodiment includes a casing main body 1-1 and a casing upper cover 1-2, a horizontal fixing plate 8 is disposed in the casing main body 1-1, one side wall of the horizontal fixing plate 8 is fixedly connected with a longitudinal front wall of the casing main body 1-1, a first through hole 9 is vertically formed in the horizontal fixing plate 8, a second through hole 10 is formed in a bottom plate of the casing main body 1-1, the first through hole 9 and the second through hole 10 are coaxially disposed, the other end of the second communicating pipe 7 sequentially passes through the first through hole 9 and the second through hole 10 and extends out of the casing main body 1-1, and the second communicating pipe 7 is vertically disposed in the casing main body 1-1 through the horizontal fixing plate 8, so that the first communicating pipe 6 and the second communicating pipe 7 are positioned substantially and kept stable with respect to the casing main body 1-1.

As a preferred scheme of the present embodiment, the present embodiment further includes a circuit board 2, where the circuit board 2 is disposed in the housing body 1-1, and is electrically connected to the micro electromagnetic valve 4 and the micro vacuum pump 5, respectively, and the circuit board 2 is connected to a power source (not shown), and the circuit board 2 is used to control opening and closing of the micro electromagnetic valve 4 and the micro vacuum pump 5, so as to control the working state of the micro end effector.

As a preferable scheme of the embodiment, an electromagnetic valve limiting frame 11 and a circuit board fixing seat 12 are arranged on a bottom plate of the housing main body 1-1 in the embodiment; the solenoid valve limiting frame 11 and the circuit board fixing seat 12 are respectively arranged on two lateral sides of the horizontal fixing plate 8, the miniature solenoid valve 4 is arranged in the solenoid valve limiting frame 11, the solenoid valve limiting frame 11 in the embodiment is rectangular and matched with the outline of the miniature solenoid valve 4, so that the solenoid valve limiting frame is kept fixed, and the circuit board 2 is fixedly installed on the circuit board fixing seat 12 in a plugging manner, so that the solenoid valve limiting frame is kept stable and avoids shifting.

As a preferable scheme of the present embodiment, a vacuum pump support assembly 13 is provided between the longitudinal rear wall of the housing main body 1-1 and the horizontal fixing plate 8 in the present embodiment; the vacuum pump support assembly 13 comprises a pair of support plates 13-1, the bottoms of the support plates 13-1 are fixedly arranged on the bottom plate of the shell main body 1-1, the tops of the support plates 13-1 are provided with arc-shaped support grooves 13-2, in the embodiment, the micro vacuum pump 5 is cylindrical, the support grooves 13-2 are matched with the outer contour of the micro vacuum pump 5, and the micro vacuum pump 5 can be stably placed on the two support grooves 13-2 to avoid deviation.

In order to further improve the stability of the micro vacuum pump 5, a vacuum pump limiting assembly 14 is further arranged in the shell upper cover 1-2, the vacuum pump limiting assembly 14 comprises a pair of limiting plates 14-1, the limiting plates 14-1 are in one-to-one correspondence with the supporting plates 13-1, the top of each limiting plate 14-1 is fixedly arranged on the lower surface of the shell upper cover 1-2, a circular arc-shaped limiting groove 14-2 is formed in the bottom of each limiting plate 14-1, and the micro vacuum pump 5 is limited and fixed from above, namely, after the shell upper cover 1-2 is arranged on the shell main body 1-1, the limiting grooves 14-2 and the supporting grooves 13-2 circumferentially encircle and fix the micro vacuum pump 5, so that the micro vacuum pump 5 is kept stable relative to the actuator shell 1.

In the embodiment, the circuit board 2, the miniature electromagnetic valve 4 and the miniature vacuum pump 5 are arranged around the second communicating pipe fitting 7, all the components are communicated through the soft air pipe, the space is reasonably utilized, the volume and the weight of the whole miniature end effector are greatly reduced, and the convenience and the flexibility of operation are improved; the combination of the vacuum pump supporting component 13 and the vacuum pump limiting component 14 can be suitable for the micro vacuum pumps 5 with various sizes, and can replace different micro vacuum pumps 5 according to different application scenes.

As a preferred solution of this embodiment, in this embodiment, the housing main body 1-1 is provided with a wiring hole 1-3, the circuit board 2 includes a Grove interface 23, the Grove interface 23 is mounted at the wiring hole 1-3, and the Grove interface 23 is used for connecting with an external Grove connecting wire (not shown) to ensure reliable electrical connection under given working conditions.

As a preferred scheme of the present embodiment, in the present embodiment, the electromagnetic valve vent hole 15 is formed at the bottom plate of the housing main body 1-1 corresponding to the electromagnetic valve limiting frame 11, and when the micro electromagnetic valve 4 works, the balance of the internal and external air pressures is adjusted through the electromagnetic valve vent hole 15, so that the negative pressure state in the first communication pipe 6 and the second communication pipe 7 disappears, and the object sucked on the suction cup 3 is smoothly separated from the suction cup 3.

In order to ensure stability of each component in the actuator, as a preferred scheme of this embodiment, the second communicating pipe 7 is sleeved with the first fixing nut 16 and the second fixing nut 17, and the first fixing nut 16 and the second fixing nut 17 are respectively disposed at two vertical ends of the horizontal fixing plate 8, so that the second communicating pipe 7 is fixed on the horizontal fixing plate 8, and the components in the actuator housing 1 are relatively kept stable by avoiding displacement of the second communicating pipe in the vertical direction.

As a preferable scheme of the present embodiment, in the present embodiment, a plurality of lower mounting holes 18 are provided in the housing main body 1-1, a plurality of upper mounting holes 19 are provided in the housing upper cover 1-2, and the lower mounting holes 18 are connected with the corresponding upper mounting holes 19 by screws.

As a preferred solution of the present embodiment, in the present embodiment, the housing upper cover 1-2 is provided with the general purpose holes 20 for connecting with the arm end 22, in the present embodiment, the housing upper cover 1-2 is provided with 4 general purpose holes 20, the arm end 22 is provided with 4 through holes 24 corresponding to the general purpose holes 20, and the micro end effector is mounted on the arm end 22 through the connecting piece 25.

In actual operation, this embodiment:

after all parts in the device are assembled in place, the miniature end effector is arranged at the tail end 22 of the mechanical arm through the connecting piece 25, when the device is used, a Grove connecting wire is inserted into the Grove interface 23 of the wiring hole 1-3, the suction cup 3 is placed on the surface of an object to be sucked, signals are input to the miniature vacuum pump 5 through the Grove port, at the moment, the miniature electromagnetic valve 4 is in a closed state, the miniature vacuum pump 5 starts to work, air in the first communication pipe 6, the second communication pipe 7 and the suction cup 3 is pumped, the inside of the miniature vacuum pump is in a negative pressure state, the suction cup 3 pumps up the object to be sucked under the action of the vacuum pump, when the mechanical arm sucks the object to a required destination, the outside inputs signals to the miniature electromagnetic valve 4 through the Grove port and simultaneously stops the vacuum pump, the miniature electromagnetic valve 4 is opened, the sucked air is sucked, the internal space of the first communication pipe 6, the second communication pipe 7 and the suction cup 3 is communicated with the outside, the internal and external air pressure of the miniature electromagnetic valve 3 are balanced, and the object falls from the suction cup 3.

Claims (10)

1. The miniature end effector for the miniature mechanical arm is characterized by comprising an effector shell (1) and a sucker (3);

a first communicating pipe fitting (6) and a second communicating pipe fitting (7) which are mutually connected are arranged in the actuator shell (1), one end of the first communicating pipe fitting (6) is connected with a miniature electromagnetic valve (4), and the other end of the first communicating pipe fitting (6) is connected with a miniature vacuum pump (5); one end of the second communicating pipe fitting (7) is communicated with the middle part of the first communicating pipe fitting (6), and the other end of the second communicating pipe fitting (7) penetrates out of the actuator shell (1) to be connected with the sucker (3).

2. The miniature end effector for a small mechanical arm according to claim 1, wherein the effector housing (1) comprises a housing main body (1-1) and a housing upper cover (1-2), a horizontal fixing plate (8) is arranged in the housing main body (1-1), one side wall of the horizontal fixing plate (8) is fixedly connected with the longitudinal front wall of the housing main body (1-1), a first through hole (9) is vertically formed in the horizontal fixing plate (8), a second through hole (10) is formed in a bottom plate of the housing main body (1-1), the first through hole (9) and the second through hole (10) are coaxially arranged, and the other end of the second communicating pipe fitting (7) sequentially penetrates through the first through hole (9) and the second through hole (10) to extend out of the housing main body (1-1).

3. The miniature end effector for a miniature mechanical arm according to claim 2, further comprising a circuit board (2), wherein the circuit board (2) is arranged in the housing main body (1-1) and is respectively connected with the miniature electromagnetic valve (4) and the miniature vacuum pump (5).

4. A miniature end effector for a miniature mechanical arm according to claim 3, characterized in that the bottom plate of the housing main body (1-1) is provided with an electromagnetic valve limiting frame (11) and a circuit board fixing seat (12); the electromagnetic valve limiting frame (11) and the circuit board fixing seat (12) are respectively arranged on two lateral sides of the horizontal fixing plate (8), and the miniature electromagnetic valve (4) is arranged in the electromagnetic valve limiting frame (11).

5. A miniature end effector for a small robot according to claim 3, characterized in that a vacuum pump support assembly (13) is provided between the longitudinal rear wall of the housing body (1-1) and the horizontal fixing plate (8); the vacuum pump support assembly (13) comprises a pair of support plates (13-1), the bottoms of the support plates (13-1) are fixedly arranged on the bottom plate of the shell main body (1-1), arc-shaped support grooves (13-2) are formed in the tops of the support plates (13-1), and the micro vacuum pump (5) is placed on the two support grooves (13-2).

6. The miniature end effector for a small mechanical arm according to claim 5, wherein a vacuum pump limiting assembly (14) is arranged in the upper cover (1-2) of the housing, the vacuum pump limiting assembly (14) comprises a pair of limiting plates (14-1), the limiting plates (14-1) are in one-to-one correspondence with the supporting plates (13-1), the top of each limiting plate (14-1) is fixedly arranged on the lower surface of the upper cover (1-2) of the housing, and circular arc-shaped limiting grooves (14-2) are formed in the bottoms of the limiting plates (14-1).

7. A miniature end effector for a small mechanical arm according to claim 3, wherein the housing body (1-1) is provided with a wiring hole (1-3), the circuit board (2) comprises a Grove interface (23), and the Grove interface (23) is mounted at the wiring hole (1-3).

8. The miniature end effector for a miniature mechanical arm according to claim 4, wherein the electromagnetic valve limiting frame (11) is provided with an electromagnetic valve vent hole (15) at the bottom plate of the housing main body (1-1) corresponding to the electromagnetic valve limiting frame.

9. The miniature end effector for a small mechanical arm according to claim 2, wherein the second communicating pipe (7) is sleeved with a first fixing nut (16) and a second fixing nut (17), and the first fixing nut (16) and the second fixing nut (17) are respectively arranged at two vertical ends of the horizontal fixing plate (8).

10. The miniature end effector for a miniature mechanical arm according to claim 2, wherein the housing upper cover (1-2) is provided with a universal hole (20) for connecting with the tail end of the mechanical arm (22).