CN220945380U - Suction cup posture adjusting device - Google Patents

Abstract

The utility model discloses a sucker gesture adjusting device, which relates to the technical field of mechanical automation and comprises a Z-axis height adjusting unit, wherein a C-axis rotation control unit is arranged below the Z-axis height adjusting unit, a B-axis deviation rotation control unit is movably connected with the C-axis rotation control unit, a C-axis locking unit and a B-axis locking unit are arranged below the B-axis deviation rotation control unit, a height adjusting locking unit is arranged below the C-axis locking unit and the B-axis locking unit, a first motor is driven to rotate by controlling the Z-axis height adjusting unit, so that a sliding table slides up and down to adjust the height of a sliding rod, further, the adjustment control of the preset height of a sucker is realized, a second motor is driven to rotate by controlling the C-axis rotation control unit, the circular ring is driven to rotate, and the periphery of the sucker is driven to rotate.

Description

Suction cup posture adjusting device

Technical Field

The invention relates to the technical field of mechanical automation, in particular to a sucker gesture adjusting device.

Background

The existing six-degree-of-freedom gesture adjusting mechanism for large parts is also in manual gesture adjustment of workers, the gesture cannot be stabilized after the gesture adjustment is completed, and possibly a thin-wall large part product easily slides or slides down from a positioning and docking device in the docking process, so that hidden hazards exist for safety control of the product, and it is particularly important to design a sucker gesture adjusting device to solve automatic gesture adjustment.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a sucker gesture adjusting device, which solves the problem that the existing device cannot automatically adjust gesture so as to reduce the occurrence of potential safety hazards.

In order to achieve the above purpose, the invention is realized by the following technical scheme: including Z axle height adjustment unit, Z axle height adjustment unit below is equipped with the rotatory control unit of C axle, the rotatory control unit swing joint of C axle has the rotatory control unit of B axle skew, the rotatory control unit below of B axle skew is equipped with C axle and B axle locking unit, C axle and B axle locking unit below are equipped with height adjustment locking unit.

Preferably, the Z-axis height adjusting unit comprises a workbench, a plurality of blind pins are uniformly distributed on the upper surface of the bottom of the workbench, arc grooves are formed in the blind pins, a sliding rail and a first rack are arranged on the side wall of the workbench, a sliding rail is connected with a sliding block in a sliding manner, the sliding block is fixedly connected with a sliding table, a hollow cavity is formed in the sliding table, a first motor is fixedly installed on the side wall of the sliding table, a driving end of the first motor penetrates through the side wall of the sliding table and is provided with a first gear, a second motor is arranged at the bottom of the workbench, a driving end of the second motor penetrates through the bottom of the sliding table and is provided with a second gear, a C-axis rotation control unit comprises a circular ring, the sliding table is in rotary connection with the circular ring, an annular rack is arranged around the circular ring, a B-axis offset rotation control unit comprises a connecting plate, the upper end of the connecting plate is fixedly connected with the circular ring, the lower end of the connecting plate is fixedly connected with an arc fluted disc, a first motor is fixedly installed on the arc sliding plate, a supporting plate is installed on the arc sliding plate, a fixing block is installed on the arc sliding plate, a second motor is installed on the supporting plate, a second motor is installed on the second motor, a third motor is installed on the sliding plate, a second motor is installed on the connecting rod is in a rotary connection with the rotary connection with a rotary joint, a rotary joint is connected with a rotary joint is provided with a rotary joint, a rotary joint is arranged on the rotary joint, a rotary joint is connected with a rotary joint, and comprises a rotary joint is provided with a rotary joint, and a rotary joint is equipped with a rotary joint, and has a rotary joint. The flexible stand with workstation swing joint, flexible stand sliding connection has the slide bar, flexible stand upper end and side are equipped with the opening, flexible stand side is equipped with the screw hole, install the mount on the workstation, be equipped with the second electric gun on the mount, second electric gun drive end swing joint has the screw.

Preferably, the first gear is meshed with the first rack, and the second gear is meshed with the annular rack.

Preferably, a fourth motor is installed on the arc-shaped sliding disc, the driving end of the fourth motor penetrates through the arc-shaped sliding disc and is provided with a third gear, a sliding strip is arranged on the arc-shaped fluted disc, a groove and a rack are arranged on the arc-shaped sliding disc, the sliding strip is in sliding connection with the groove, and the third gear is meshed with the rack.

Preferably, the locking part comprises a locking block, a through hole is formed in the locking block, a limit column is arranged in the through hole, the first electric gun driving end is movably connected with the limit column, an upper pressing plate and a lower pressing plate are respectively arranged on the locking block, and slopes are respectively arranged on the upper pressing plate and the lower pressing plate.

Preferably, the cross section of the limiting column is changed from small to large.

Preferably, the flexible upright post is provided with a vent hole, a spring is sleeved on the outer side of the rivet hole, a limiting block is arranged above the spring, a containing cavity is arranged in the limiting block, the limiting block is wound on the outer side of the rivet hole, a lower slope is arranged on the side wall of the containing cavity, a limiting bead is arranged in the containing cavity, the limiting bead is attached to the lower slope, the limiting bead is embedded in a cambered surface groove of the rivet, a pneumatic component is arranged in the flexible upright post, an output end is arranged on the pneumatic component, the pneumatic component is simultaneously communicated with two vent holes, a pushing plate is connected below the output end, and the pushing plate is connected with the limiting block.

Preferably, the accommodating cavity is from small to large from the bottom to the top.

Preferably, the number of the blind rivet holes is 4.

Preferably, a vent pipe is arranged above the output end.

Advantageous effects

The suction cup posture adjusting device has the advantages that the suction cup posture adjusting device is simple in structure and convenient to use, the first motor is driven to drive the first gear to rotate through controlling the Z-axis height adjusting unit, so that the sliding table slides up and down to adjust the height of the sliding rod, further, the adjustment control of the preset height of the suction cup is achieved, the second motor is driven to drive the second gear to rotate through controlling the C-axis rotation controlling unit, the circular ring is rotated to drive the suction cup to rotate around, further, the adjustment control of the preset position of the suction cup is achieved, the fourth motor is driven to drive the third gear to rotate through controlling the B-axis offset rotation controlling unit, the arc-shaped sliding disc slides left and right on the arc-shaped fluted disc, the suction cup is driven to rotate left and right in the vertical direction of the suction cup, the preset angle of the suction cup is adjusted through controlling the C-axis locking unit and the second electric gun, the position of the suction cup is prevented from shifting, finally, the third motor is driven to drive the threaded rod to move backwards to be fixed, the suction cup is completed, the suction cup is adjusted automatically, and the six-dimensional posture adjusting device is convenient to use, and the suction cup posture adjusting device is convenient for people.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a side view of the present invention.

Fig. 3 is a bottom view of the present invention.

Fig. 4 is an enlarged partial view at C in a bottom view of the present invention.

Fig. 5 is a schematic structural view of the flexible upright of the present invention.

Fig. 6 is a cross-sectional view of a flexible column of the present invention.

Fig. 7 is an enlarged view of a portion of the flexible column of the present invention at a.

Fig. 8 is an enlarged view of a portion of the flexible column of the present invention at a.

Fig. 9 is a schematic structural view of a flexible column according to the present invention.

Fig. 10 is a bottom view of the flexible column of the present invention.

Fig. 11 is a schematic view of the structure of the blind rivet of the present invention.

Fig. 12 is a side view of the flexible column of the present invention.

In the figure: 1. a work table; 2. pulling nails; 3. a slide rail; 4. a first rack; 5. a slide block; 6. a sliding table; 7. a first motor; 8. a first gear; 9. a second motor; 10. a second gear; 11. an opening; 12. a circular ring; 13. an annular rack; 14. a connecting plate; 15. arc fluted disc; 16. an arc-shaped slide plate; 17. a support plate; 18. a fixed block; 19. a third motor; 20. a threaded rod; 21. a rotating block; 22. a connecting rod; 23. a suction cup; 24. a first turntable; 25. a second turntable; 26. a first electric gun; 27. a flexible upright; 28. a rivet hole; 29. a slide bar; 30. a limiting hole; 31. a fixing frame; 32. a second electric gun; 33. a fourth motor; 34. a third gear; 35. a slide bar; 36. a vent pipe; 37. a rack; 38. a locking block; 39. a through hole; 40. a limit column; 41. an upper press plate; 42. a lower pressing plate; 43. a ramp; 44. a vent hole; 45. a spring; 46. a limiting block; 47. a receiving chamber; 48. a downward slope; 49. limiting beads; 50. a cambered surface groove; 51. an output end; 52. a push plate.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-12, the present invention provides a technical solution: the device comprises a Z-axis height adjusting unit, wherein a C-axis rotation control unit is arranged below the Z-axis height adjusting unit, a B-axis deviation rotation control unit is movably connected with the C-axis rotation control unit, a C-axis locking unit and a B-axis locking unit are arranged below the B-axis deviation rotation control unit, and a height adjusting locking unit is arranged below the C-axis locking unit and the B-axis locking unit; the Z-axis height adjusting unit comprises a workbench 1, a plurality of blind nails 2 are uniformly distributed on the upper surface of the bottom of the workbench 1, cambered surface grooves 50 are formed in the blind nails 2, sliding rails 3 and first racks 4 are arranged on the side walls of the workbench 1, the sliding rails 3 are in sliding connection with sliding blocks 5, the sliding blocks 5 are fixedly connected with sliding tables 6, hollow cavities are formed in the sliding tables 6, first motors 7 are fixedly arranged on the side walls of the sliding tables 6, driving ends of the first motors 7 penetrate through the side walls of the sliding tables 6 and are provided with first gears 8, second motors 9 are arranged at the bottom of the workbench 1, driving ends of the second motors 9 penetrate through the bottom of the sliding tables 6 and are provided with second gears 10, the C-axis rotation control unit comprises a circular ring 12, the sliding tables 6 are in rotary connection with the circular ring 12, annular racks 13 are arranged around the circular ring 12, the B-axis deviation rotation control unit comprises a connecting plate 14, the upper end of the connecting plate 14 is fixedly connected with the circular ring 12, the lower end of the connecting plate 14 is fixedly connected with an arc fluted disc 15, the arc fluted disc 15 is in sliding connection with an arc sliding disc 16, a supporting plate 17 is arranged on the arc sliding disc 16, a fixed block 18 is arranged on the supporting plate 17, a third motor 19 is arranged on the fixed block 18, a threaded rod 20 is rotationally connected with the driving end of the third motor 19, the C shaft and B shaft locking unit comprises a rotating block 21, the rotating block 21 is connected with a connecting rod 22, a sucking disc 23 is arranged on the connecting rod 22, the threaded rod 20 can be embedded in the sucking disc 23, the rotating block 21 is rotationally connected with a first rotary disc 24, a second rotary disc 25 is arranged below the first rotary disc 24, a first electric gun 26 is arranged on the supporting plate 17, a limit post 40 is movably connected with the driving end of the first electric gun 26, the first turntable 24 is provided with a locking part, the height adjusting locking unit comprises a flexible upright post 27, the bottom of the flexible upright post 27 is provided with a rivet hole 28, the flexible upright post 27 is movably connected with the workbench 1, a sliding rod 29 is slidably connected in the flexible upright post 27, the upper end and the side surface of the flexible upright post 27 are provided with openings 11, the side surface of the flexible upright post 27 is provided with a threaded hole 30, the workbench 1 is provided with a fixing frame 31, the fixing frame 31 is provided with a second electric gun 32, and the driving end of the second electric gun 32 is movably connected with a screw 55; the first gear 8 is meshed with the first rack 4, and the second gear 10 is meshed with the annular rack 13; a fourth motor 33 is installed on the arc-shaped sliding disc 16, the driving end of the fourth motor 33 penetrates through the arc-shaped sliding disc 16 and is provided with a third gear 34, a sliding bar 35 is arranged on the arc-shaped fluted disc 15, a groove and a rack 37 are arranged on the arc-shaped sliding disc 16, the sliding bar 35 is in sliding connection with the groove 36, and the third gear 34 is meshed with the rack 37; the locking component comprises a locking block 38, a through hole 39 is formed in the locking block 38, a limit post 40 is arranged in the through hole 39, the driving end of the first electric gun 26 is movably connected with the limit post 40, an upper pressing plate 41 and a lower pressing plate 42 are respectively arranged on the locking block 38, and slopes 43 are respectively arranged on the upper pressing plate 41 and the lower pressing plate 42; the cross section of the limiting column 40 is changed from small to large; the flexible upright post 27 is provided with vent holes 44, springs 45 are sleeved on the outer sides of the holes of the blind nails 2, limiting blocks 46 are arranged above the springs 45, accommodating cavities 47 are arranged in the limiting blocks 46, the limiting blocks 46 are wound on the outer sides of the holes of the blind nails 2, lower slopes 48 are arranged on the side walls of the accommodating cavities 47, limiting beads 49 are arranged in the accommodating cavities 47, the limiting beads 49 are attached to the lower slopes 48, the limiting beads 49 are embedded into cambered grooves 50 of the blind nails 2, pneumatic components are arranged in the flexible upright post 27 and are provided with output ends 51, the pneumatic components are simultaneously communicated with the two vent holes 44, pushing plates 52 are connected below the output ends 51, and the pushing plates 52 are connected with the limiting blocks 46; the accommodating cavity 47 is formed from small to large from the bottom to the top; the number of the rivet holes 28 is 4; a vent pipe 36 is arranged above the output end 51.

The components in this case are connected in sequence by a person skilled in the art, and specific connection and operation sequence should be referred to the following working principle, and the detailed connection means are known in the art, and the following working principle and process are mainly described.

Examples: when in use, the flexible upright post 27 is firstly ventilated and controlled by the ventilation holes 44 according to the situation, so that the flexible upright post 27 is dismounted and mounted, the flexible upright post 27 is convenient to use, when the flexible upright post 27 is ventilated, the ventilation pipe 36 is used for ventilation, the output end 51 moves downwards, the limiting block 46 moves downwards by pushing the push plate 52, the limiting beads 49 in the containing cavity 47 are dispersed from top to bottom in the containing cavity 47 due to the slope 43 in the containing cavity 47, the limiting beads 49 are separated from the cambered surface grooves 50 of the blind nails 2, the blind nails 2 are loosened, the flexible upright post 27 is separated from the workbench 1, the random dismounting can be realized, the spring 45 has upward reaction force after the blind nails 2 are sleeved with holes, the spring 45 pushes the limiting beads 49 in the containing cavity 47 to move upwards along the slope 43, the limiting beads 49 in the limiting blocks 46 are limited and locked through the cambered surface grooves 50 of the blind bolts 2 on the workbench 1 to fix the flexible upright posts 27 on the workbench 1, then, when the third motor 19 is started to enable the threaded rod 20 to be inserted into the sucker 23, the first motor 7, the second motor 9 and the fourth motor 33 are started, the first motor 7 drives the first gear 8 to rotate to enable the sliding table 6 to move up and down so as to drive the sliding rod 29 to move up and down, the using height of the sucker 23 is adjusted, the second motor 9 drives the second gear 10 to rotate to enable the periphery of the circular ring 12 to rotate so as to enable the second turntable 25 to drive the periphery of the sucker 23 to rotate to adjust the horizontal plane direction of the sucker 23, the fourth motor 33 drives the third gear 34 to rotate to enable the arc sliding disc 16 to slide left and right in the vertical direction 180 degrees on the arc fluted disc 15, after the vertical height, angle and horizontal direction are adjusted, the limit post 40 is inserted into the gap between the upper pressing plate 41 and the lower pressing plate 42 through the first electric gun 26, the slope 43 for the upper pressing plate 41 and the lower pressing plate 42 can cause the socket to be smaller and smaller, and the cross section of the limit post 40 is also gradually enlarged, so that the first rotating disc 24 is limited, the first rotating disc 24 stops rotating, the vertical posture of the sucker 23 is kept, the screw 55 is inserted into the threaded hole 30 through the second electric gun 32, the opening 11 at the top end of the flexible upright post 27 is locked, the slide bar 29 is fixed in height and prevented from sliding, finally, the threaded rod 20 in the sucker 23 is retracted through the fourth motor 33, the preset posture of the sucker 23 is finished, the follow-up operation is facilitated, the horizontal direction and angle adjustment and the vertical height adjustment of the sucker 23 can be carried out, the flexibility of the device is effectively improved, and the usability of the device is enhanced.

It is noted that relational terms such as first and second, and the like are 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. Moreover, 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. The term "comprising" an element defined by the term "comprising" does not exclude the presence of other identical elements in a process, method, article or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The utility model provides a sucking disc appearance device of transferring, its characterized in that includes Z axle height adjustment unit, Z axle height adjustment unit below is equipped with C axle rotation control unit, C axle rotation control unit swing joint has B axle skew rotation control unit, B axle skew rotation control unit below is equipped with C axle and B axle locking unit, C axle and B axle locking unit below are equipped with height adjustment locking unit.

2. The suction cup gesture adjusting device according to claim 1, wherein the Z-axis height adjusting unit comprises a workbench (1), a plurality of blind nails (2) are uniformly distributed on the upper surface of the bottom of the workbench (1), cambered grooves (50) are formed in the blind nails (2), sliding rails (3) and first racks (4) are formed in the side walls of the workbench (1), the sliding rails (3) are in sliding connection with sliding blocks (5), sliding tables (6) are fixedly connected with the sliding blocks (5), hollow cavities are formed in the sliding tables (6), first motors (7) are fixedly arranged on the side walls of the sliding tables (6), driving ends of the first motors (7) penetrate through the side walls of the sliding tables (6) and are provided with first gears (8), second motors (9) are arranged at the bottoms of the workbench (1), driving ends of the second motors (9) penetrate through the bottoms of the sliding tables (6) and are provided with second gears (10), the C-axis rotation control units comprise circular rings (12), the circular rings (12) are fixedly connected with the circular rings (12), the circular rings (12) are connected with the circular rings (14) in a rotating mode, the circular rings (14) are connected with the circular rings (14) in a rotating mode, and the circular rings (12) are fixedly connected with the connecting plates are connected with the connecting plates, the lower end of the connecting plate (14) is fixedly connected with an arc fluted disc (15), the arc fluted disc (15) is connected with an arc sliding disc (16) in a sliding manner, a supporting plate (17) is arranged on the arc sliding disc (16), a fixed block (18) is arranged on the supporting plate (17), a third motor (19) is arranged on the fixed block (18), a threaded rod (20) is rotationally connected with the driving end of the third motor (19), the C shaft and B shaft locking unit comprises a rotating block (21), the rotating block (21) is connected with a connecting rod (22), a sucker (23) is arranged on the connecting rod (22), the threaded rod (20) can be embedded into the sucker (23), the rotary block (21) is rotationally connected with a first rotary table (24), a second rotary table (25) is arranged below the first rotary table (24), a first electric gun (26) is mounted on the supporting plate (17), a limit column (40) is movably connected with the driving end of the first electric gun (26), a locking part is arranged on the first rotary table (24), the height-adjusting locking unit comprises a flexible upright column (27), a rivet hole (28) is arranged at the bottom of the flexible upright column (27), the flexible upright column (27) is movably connected with the workbench (1), a slide rod (29) is slidably connected with the flexible upright column (27), the flexible stand (27) upper end and side are equipped with opening (11), flexible stand (27) side is equipped with screw hole (30), install mount (31) on workstation (1), be equipped with second electric gun (32) on mount (31), second electric gun (32) drive end swing joint has screw (55).

3. The suction cup posture adjustment device according to claim 2, characterized in that the first gear (8) is meshed with the first rack (4), and the second gear (10) is meshed with the annular rack (13).

4. The suction cup posture adjustment device according to claim 2, characterized in that a fourth motor (33) is installed on the arc-shaped sliding disc (16), the driving end of the fourth motor (33) penetrates through the arc-shaped sliding disc (16) and is provided with a third gear (34), a sliding strip (35) and a rack (37) are arranged on the arc-shaped fluted disc (15), a groove is formed in the arc-shaped sliding disc (16), the sliding strip (35) is in sliding connection with the groove, and the third gear (34) is meshed with the rack (37).

5. The suction cup posture adjusting device according to claim 2, wherein the locking component comprises a locking block (38), a through hole (39) is formed in the locking block (38), a limiting column (40) is arranged in the through hole (39), the driving end of the first electric gun (26) is movably connected with the limiting column (40), an upper pressing plate (41) and a lower pressing plate (42) are respectively arranged on the locking block (38), and slopes (43) are respectively arranged on the upper pressing plate (41) and the lower pressing plate (42).

6. The suction cup posture adjustment device according to claim 5, wherein the cross section of the limiting post (40) is changed from small to large.

7. The suction cup posture adjustment device according to claim 2, characterized in that a vent hole (44) is formed in the side wall of the flexible upright post (27), a spring (45) is sleeved on the periphery of the outer side of the hole of the blind rivet (2), a limiting block (46) is arranged above the spring (45), a containing cavity (47) is formed in the limiting block (46), the limiting block (46) is wound on the outer side of the hole of the blind rivet (2), a lower slope (48) is formed in the side wall of the containing cavity (47), a limiting bead (49) is arranged in the containing cavity (47), the limiting bead (49) is attached to the lower slope (48), the limiting bead (49) is embedded into a cambered surface groove (50) of the blind rivet (2), a pneumatic component is arranged in the flexible upright post (27), an output end (51) is arranged on the pneumatic component, the pneumatic component is simultaneously communicated with two vent holes (44), a push plate (52) is connected to the lower side of the output end (51), and the push plate (52) is connected with the limiting block (46).

8. The suction cup posture adjustment device according to claim 7, characterized in that the accommodating cavity (47) is from small to large from the bottom to the top.

9. The suction cup posture adjustment device according to claim 2, characterized in that the number of the blind rivet holes (28) is 4.

10. The suction cup posture adjustment device according to claim 7, characterized in that a vent pipe (36) is arranged above the output end (51).