CN221021046U - Sucking disc structure and have its manipulator of uncapping - Google Patents
Sucking disc structure and have its manipulator of uncapping Download PDFInfo
- Publication number
- CN221021046U CN221021046U CN202323018137.3U CN202323018137U CN221021046U CN 221021046 U CN221021046 U CN 221021046U CN 202323018137 U CN202323018137 U CN 202323018137U CN 221021046 U CN221021046 U CN 221021046U
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- suction cup
- sucker
- arm
- auxiliary arms
- arms
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- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000002828 fuel tank Substances 0.000 description 3
- 239000000446 fuel Substances 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005984 hydrogenation reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model relates to the technical field of oiling equipment, in particular to a sucker structure and a cover opening manipulator with the sucker structure. The folding type suction cup comprises a suction cup body, a folding arm, a rotary driving piece and a supporting arm, wherein the suction cup body is provided with a working end and a fixed end; the folding arm comprises two auxiliary arms, a connecting arm is connected with one end of the two auxiliary arms, and the two auxiliary arms are symmetrically arranged; the center of the rotary driving piece is provided with a driving rotating shaft which penetrates through the rotary driving piece, and the driving rotating shaft is connected to one end, far away from the connecting arm, of the two auxiliary arms; the support arm is connected to an end of the rotary drive member. In the open state, the sucker and the folding arm are opened, the sucker can act to suck the outer cover of the oil tank, and the outer cover of the oil tank is pulled to finish uncovering; under the folded state, the sucking disc is folded with the folding arm, can provide sufficient action space for the clamping structure, can fully avoid the interference of sucking disc structure to the oil tank shell. When the sucker structure works, the working end is more stable, and shaking can not occur.
Description
Technical Field
The utility model relates to the technical field of oiling equipment, in particular to a sucker structure and a cover opening manipulator with the sucker structure.
Background
At present, a refueling robot is used as a special device for supplying fuel to a traditional vehicle, and a manipulator for opening a cover comprises a sucker and a clamping jaw which are respectively used for opening an outer cover and an inner cover of an automobile fuel tank. The sucker of the existing uncovering manipulator is transversely arranged in a telescopic manner, and can be used for sucking the outer cover and opening when the sucker stretches out; after the outer cover is opened, the sucker retracts, and the clamping jaw stretches into the outer cover to clamp and open the inner cover; however, in the process of opening the inner cover, the suction disc can generate the problem of reduced positioning precision due to the action of a longer stroke, and the action of the clamping jaw and the shell of the oil tank can be interfered in the action process, so that the oiling effect is affected.
The sucking disc of the existing oiling robot is bent by adopting a folding arm, and is connected to a working end by using a negative pressure pipe pipeline, and the outer cover is sucked and opened. Although the folding arm can be unfolded and folded, the folding arm is easy to shake and has insufficient stability in the front-back folding process.
Disclosure of utility model
Therefore, the technical problem to be solved by the utility model is to overcome the defects in the prior art, so as to provide a sucker structure and a manipulator with the sucker structure.
The applicant has found that the telescopic suction cup structure of the prior art, due to its longitudinal space limitation, has a short telescopic stroke, which causes interference of the suction cup with the action of the clamping jaws and with the tank shell during the opening of the clamping jaws. In addition, even if the stroke of the telescopic sucker structure is lengthened, so as to avoid the occurrence of the interference condition, the longitudinal extension length of the sucker structure is longer, and the telescopic sucker structure has certain flexibility, and further has the problem of poor positioning accuracy in the process of lengthening the stroke. In addition, in the telescopic process of the sucker structure, the stability of the sucker structure is insufficient, and the sucker structure is easy to shake, so that the positioning accuracy of the execution tail end is affected.
In order to solve the technical problems, the utility model adopts the following technical scheme:
the utility model provides a sucker structure, which comprises:
the sucker body is provided with a working end and a fixed end;
The folding arm comprises two auxiliary arms and a connecting arm connected with one ends of the two auxiliary arms, the fixed end is connected with the center of the connecting arm, and the two auxiliary arms are symmetrically arranged on two sides of an axis extension line of the sucker body;
The center of the rotary driving piece is provided with a driving rotating shaft, the driving rotating shaft penetrates through the rotary driving piece and protrudes out of two ends of the rotary driving piece, and the driving rotating shaft is connected to one end, far away from the connecting arm, of the two auxiliary arms;
And the supporting arm is connected with the end part of the rotary driving piece.
Specifically, the sucker structure is characterized in that the connecting arm is of a U-shaped structure, and two ends of the U-shaped structure are fixedly connected with the two auxiliary arms respectively.
Alternatively, in the above sucker structure, the support arm includes two side arms that are arranged in parallel, and two ends of the rotation driving member are respectively and fixedly connected to one ends of the two side arms.
Optionally, in the above sucker structure, the two side arms are close to the end of the rotation driving member and provided with through holes, and two ends of the driving shaft pass through the through holes and are fixedly connected with the two auxiliary arms.
Optionally, in the above sucker structure, when the folding arm is folded, the two side arms are at least partially located in a space formed by the two auxiliary arms opposite to each other.
Optionally, in the above sucker structure, a working end of the sucker body is a flexible bellows.
Optionally, in the above sucker structure, the sucker structure further includes a negative pressure pipeline, which is communicated with the fixed end of the sucker body.
Optionally, in the above sucker structure, the negative pressure pipeline extends backward from the fixed end of the sucker body, and the negative pressure pipeline is at least partially wound on the rotary driving member.
The utility model also provides an uncovering manipulator which comprises a clamping structure and the sucker structure; the clamping structure has a pair of clamping jaws and a clamping jaw driving member; the supporting arm of the sucker structure is fixedly arranged below the clamping jaw driving piece.
The technical scheme of the utility model has the following advantages:
1. The utility model provides a sucker structure, which comprises a sucker body, a folding arm, a rotary driving piece and a supporting arm, wherein the sucker body is provided with a working end and a fixed end; the folding arm comprises two auxiliary arms and a connecting arm connected with one end of the two auxiliary arms, and the two auxiliary arms are symmetrically arranged; the center of the rotary driving piece is provided with a driving rotating shaft, the driving rotating shaft penetrates through the rotary driving piece and protrudes out of two ends of the rotary driving piece, and the driving rotating shaft is connected to one end, far away from the connecting arm, of the two auxiliary arms; a support arm is connected to an end of the rotary drive. In the open state, the sucker and the folding arm are opened, the sucker can act to suck the outer cover of the oil tank, and the outer cover of the oil tank is pulled to finish uncovering; under the folded state, the sucking disc is folded with the folding arm, can provide sufficient action space for the clamping structure, can fully avoid the interference of sucking disc structure to the oil tank shell. According to the sucker structure provided by the utility model, the folding arm comprises the two auxiliary arms, so that the working end is more stable and can not shake when being folded and unfolded.
2. According to the uncovering manipulator provided by the utility model, the supporting arm is arranged below the clamping jaw driving piece, the clamping structure and the sucker structure are arranged up and down, the uncovering manipulator can be simultaneously suitable for the situations of left uncovering and right uncovering of an oil tank, and the arrangement mode is inconvenient in a mirror image installation mode compared with the arrangement mode of the clamping structure and the sucker structure.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram showing a folding state of a suction cup structure according to an embodiment of the present utility model;
FIG. 2 is a diagram showing an open state of a suction cup structure according to an embodiment of the present utility model;
FIG. 3 is a block diagram of a suction cup provided in an embodiment of the present utility model;
FIG. 4 is a block diagram of a support arm provided in an embodiment of the present utility model;
Fig. 5 is a structural diagram of a cover opening manipulator provided in an embodiment of the present utility model.
Reference numerals illustrate:
1-a suction cup structure; 11-a sucker body; 111-working end; 112-a fixed end; 12-folding arms; 121-auxiliary arm, 122-connecting arm, 13-rotary driving piece, 131-driving rotating shaft; 14-a support arm; 2-a clamping structure; 3-camera.
Detailed Description
The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.
Example 1
The supply device in the utility model can be a supply device for realizing automatic supply of fuel or electric energy, such as a refueling robot, a hydrogenation or air-filling robot, a charging robot and the like. However, the present embodiment is described by taking the fueling robot as an example, without limiting the manner of the present utility model.
The embodiment provides a sucker structure which is suitable for being arranged at the tail end of a mechanical arm of a refueling robot and used for opening an outer cover of an oil tank. As shown in fig. 1-4, the sucker structure comprises a sucker body, a folding arm, a rotary driving piece and a supporting arm, wherein the sucker body is fixedly connected with the folding arm, and the sucker is in a folded state (shown in fig. 1) and an unfolded state (shown in fig. 2); the rotary driving piece is in driving connection with the sucker through a folding arm so as to drive the sucker to switch between a folding state and an unfolding state.
Specifically, in the suction cup structure provided in this embodiment, as shown in fig. 1 to 4, the suction cup may include: a chuck body 11, wherein the chuck body 11 is provided with a working end 111 and a fixed end 112; a folding arm 12 including two auxiliary arms 121 and a connecting arm 122 symmetrical to the suction cup body 11, one end of the two auxiliary arms 121 being connected to the connecting arm 122, the fixed end 112 being connected to the center of the connecting arm 122; the two auxiliary arms 121 are symmetrically arranged at two sides of the axis extension line of the sucker body 11; the rotation driving member 13 is provided with a driving rotation shaft 131 at the center thereof, and the driving rotation shaft 131 penetrates through the center of the rotation driving member and is connected with the other ends of the two auxiliary arms 121; a support arm 14, wherein the support arm 14 is connected to an end of the rotation driving member 13.
In the suction cup structure provided in this embodiment, the folding arm 12 includes two auxiliary arms 121 extending along a straight line, and a connecting arm 122 located at the end of the body of the folding arm 12; the connecting arm 122 is a U-shaped connecting arm, and the middle part of the U-shaped connecting arm is connected with the fixed end 112 of the sucker body 11 through a fixed structure; the two ends of the U-shaped connecting arm are fixedly connected with the two auxiliary arms, and the sucking disc is contained below the containing space in a folded state. The working direction of the working end 111 of the chuck body is parallel to the two auxiliary arms.
In the suction cup structure provided in this embodiment, the support arm 14 includes two side arms arranged in parallel, and a receiving space is provided between the two side arms; the rotary driving piece is arranged in the accommodating space, two ends of the rotary driving piece are respectively and fixedly connected with one ends of the two side arms, and the other ends of the two side arms are fixedly connected with other parts of the oiling robot.
In the suction cup structure provided in this embodiment, as shown in fig. 4, through holes are formed at the ends of the two side arms near the rotation driving member 13, and two ends of the driving shaft pass through the through holes and are fixedly connected with the two auxiliary arms 121. That is, one end of the side arm is fixed to the end face of the rotary driving member, and a through hole is provided at the end, allowing the driving shaft to pass through the through hole, and the fixing structure and the rotating structure do not interfere with each other.
In the suction cup structure provided in this embodiment, when the folding arm 12 is folded, the two side arms are at least partially located in the space formed by the two auxiliary arms 121. When folding arm folding accomodates, make full use of space carries out the stack, reduces the size of whole device.
In the suction cup structure provided in this embodiment, the rotary driving member 13 is cylindrical, and two cylindrical ends are respectively and fixedly connected to the ends of the two side arms. Two auxiliary arms 121 forming the folding arm 12 are symmetrically connected at two ends of the driving shaft, and the auxiliary arms of the folding arm 12 are arranged at the outer ends so as to facilitate the rotation of the folding arm.
In the sucker structure provided by the embodiment, the accommodating space is formed between the two side arms of the supporting arm, and the rotary driving piece is arranged in the accommodating space, so that the volume of the sucker structure can be reduced, and the action space of the sucker structure is increased. Further, the tail end of the folding arm of the sucker structure is provided with a U-shaped connecting arm, and the U-shaped connecting arm can be close to the accommodating space in a folding state, so that the sucker is folded and accommodated near the mounting and accommodating space, the volume of the sucker structure can be further reduced, the collision of the supporting arm in the folding process of the sucker is avoided, and the stability of the sucker structure is improved. The distance between the two auxiliary arms is larger than the distance between the two side arms, so that the two auxiliary arms are prevented from interfering when being folded.
In an alternative embodiment, in the chuck structure, the rotation driving member 13 may be another rotation driving structure such as a rotary motor.
In some embodiments, the working end 111 of the sucker body 11 may be a flexible bellows, so as to increase flexibility of the manipulator in opening the outer cover of the fuel tank, and prevent damage to the outer cover of the fuel tank.
The suction cup structure provided in this embodiment further includes a negative pressure pipeline, which is connected to the fixed end 112 of the suction cup body. The negative pressure pipeline extends backwards from the fixed end 112 of the sucker body 11, and is at least partially wound on the rotary driving member, and the winding mode of the pipeline can avoid interference of the folding action of the sucker on the negative pressure pipeline.
In addition, in some embodiments, a protective sleeve can be arranged around the side arm and the supporting arm of the folding arm to wrap and protect the folding arm and the supporting arm, so as to prevent the folding arm and the supporting arm from being damaged due to accidental collision during the action of the clamping jaw.
Example 2
The present embodiment provides an uncapping manipulator adapted to be mounted at the end of a robot arm of a fueling robot. As shown in fig. 5, the above-mentioned uncapping manipulator includes the suction cup structure 1, the holding structure 2, and the camera 3 described in embodiment 1, wherein the holding structure 2 includes a pair of holding jaws and a holding jaw driving member, the holding arm of the suction cup structure is fixedly disposed below the holding jaw driving member, and the camera 3 is disposed above the holding jaw rotation driving member 13.
The manipulator uncaps that this embodiment provided, above-mentioned support arm locate the below of above-mentioned clamping jaw rotary drive spare, and this clamping structure and the mode that sets up from top to bottom of sucking disc structure can be applicable to the circumstances that the oil tank left side uncaps and right side uncaps simultaneously, and setting up the mode about clamping structure and sucking disc structure needs supporting mirror image mounting means inconvenient for, and this setting up mode can improve the commonality of manipulator uncaps. In the folded state, the sucker is folded towards the back side of the first rotary driving piece, so that interference between the sucker and the first rotary driving piece is avoided; in the open state, the extending length of the sucker is larger than that of the clamping jaw, so that the clamping jaw is prevented from interfering the sucker under the condition of opening the outer cover.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the utility model.
Claims (9)
1. A suction cup structure, comprising:
the sucker body is provided with a working end and a fixed end;
The folding arm comprises two auxiliary arms and a connecting arm connected with one ends of the two auxiliary arms, the fixed end is connected with the center of the connecting arm, and the two auxiliary arms are symmetrically arranged on two sides of an axis extension line of the sucker body;
The center of the rotary driving piece is provided with a driving rotating shaft, the driving rotating shaft penetrates through the rotary driving piece and protrudes out of two ends of the rotary driving piece, and the driving rotating shaft is connected to one end, far away from the connecting arm, of the two auxiliary arms;
And the supporting arm is connected with the end part of the rotary driving piece.
2. The suction cup structure according to claim 1, wherein the connecting arm is of a U-shaped structure, and two auxiliary arms are fixedly connected to two ends of the U-shaped structure respectively.
3. The suction cup structure according to claim 1, wherein the support arm comprises two side arms arranged in parallel, and two ends of the rotation driving member are fixedly connected to one ends of the two side arms, respectively.
4. A suction cup structure according to claim 3, wherein the two side arms are provided with through holes near the ends of the rotary driving member, and the two ends of the driving shaft are fixedly connected with the two auxiliary arms after passing through the through holes.
5. A suction cup structure according to claim 3, wherein the two side arms are at least partially located in the space formed by the two auxiliary arms when the folding arms are folded.
6. The suction cup structure of claim 1, wherein the working end of the suction cup body is a flexible bellows.
7. The suction cup structure of claim 1, further comprising a negative pressure line in communication with the fixed end of the suction cup body.
8. The suction cup structure of claim 7, wherein the suction line extends rearward from the fixed end of the suction cup body, the suction line being at least partially wrapped around the rotary drive member.
9. An uncovering manipulator, characterized by comprising a clamping structure and a sucker structure as claimed in any one of claims 1-8; the clamping structure has a pair of clamping jaws and a clamping jaw driving member; the supporting arm of the sucker structure is fixedly arranged below the clamping jaw driving piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323018137.3U CN221021046U (en) | 2023-11-09 | 2023-11-09 | Sucking disc structure and have its manipulator of uncapping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323018137.3U CN221021046U (en) | 2023-11-09 | 2023-11-09 | Sucking disc structure and have its manipulator of uncapping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221021046U true CN221021046U (en) | 2024-05-28 |
Family
ID=91175359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323018137.3U Active CN221021046U (en) | 2023-11-09 | 2023-11-09 | Sucking disc structure and have its manipulator of uncapping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221021046U (en) |
-
2023
- 2023-11-09 CN CN202323018137.3U patent/CN221021046U/en active Active
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