CN206764810U - Vacuum chuck type manipulator end effector - Google Patents
Vacuum chuck type manipulator end effector Download PDFInfo
- Publication number
- CN206764810U CN206764810U CN201720414703.8U CN201720414703U CN206764810U CN 206764810 U CN206764810 U CN 206764810U CN 201720414703 U CN201720414703 U CN 201720414703U CN 206764810 U CN206764810 U CN 206764810U
- Authority
- CN
- China
- Prior art keywords
- sucker
- disk seat
- layer
- type manipulator
- vacuum chuck
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Manipulator (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The utility model discloses a kind of vacuum chuck type manipulator end effector, including vacuum cup and robot body, the vacuum cup includes upper airway tube, downtake, Universal-head, sucker disk seat and sucker lip, the lower face of the sucker disk seat is provided with sucker cavity, and the sucker lip includes nitrile rubber adhesive linkage, silicon rubber contact layer, upper enhancing rib net layer and lower enhancing rib net layer；The free end of the robot body is fixedly connected with the upper end of the upper airway tube, the lower end of the upper airway tube is connected with the upper end fluid communication of the downtake, and the lower end of the downtake is connected through the Universal-head with the upper end fluid communication of the first passage in the sucker disk seat.The utility model can the article uneven to contact surface roughness shift, the air between contact surface coarse particles is extruded using silicon rubber contact layer, and then strengthen the absorption affinity of vacuum cup, it is reduced to improve energy consumption and the operation inconvenience that vacuum cup internal vacuum is brought.
Description
Technical field
Manipulator arm art is the utility model is related to, is performed more particularly, to a kind of vacuum chuck type manipulator end
Device.
Background technology
In order to reduce the live load of worker, while save human cost and reduce that worker physical efficiency energy is limited to be brought
Production efficiency limits, and many manufacturing enterprises are more in process of production just to carry out loading and unloading or transhipment with mechanical arm, with biography
System mechanical arm is compared, and the mechanical arm with vacuum cup has the following advantages that：Service speed is fast, can be with using vacuum system
Quickly air in vacuum cup is extracted out or injected, realizes quickly absorption and desorption；Adsorbed, can passed through using vacuum cup
Mechanical seal is allowed in stable state, even vacuum system powers off or because of disorderly closedown, the thing of vacuum cup absorption
Product also will not fall off, and can keep the suspended state of long period；Cost of labor can be reduced, can be quick using vacuum cup
Article is shifted, can not only improve operating efficiency, reduces the operating efficiency limitation that artificial physical efficiency limitation is brought, and vacuum is inhaled
The artificial of two people and the above can be substituted in the case that disk absorption affinity is larger, so as to reduce enterprises using the labor quantity, reduces people
Work cost.But the existing mechanical arm with vacuum cup shifts for the uneven article of contact area roughness
When, the absorption affinity of vacuum cup can be by large effect, it usually needs improves the vacuum inside vacuum cup to meet to inhale
The needs of addendum product.
Utility model content
In view of this, the utility model purpose be to be to provide it is a kind of can the article uneven to contact surface roughness enter
The vacuum chuck type manipulator end effector of row transfer, the sky between contact surface coarse particles is extruded using silicon rubber contact layer
Gas, and then strengthen the absorption affinity of vacuum cup, it is reduced to improve energy consumption and the operation inconvenience that vacuum cup internal vacuum is brought
Property.
To reach above-mentioned purpose, the utility model uses following technical proposals：Vacuum chuck type manipulator end effector,
Including vacuum cup and robot body, the vacuum cup include upper airway tube, downtake, Universal-head, sucker disk seat and
Sucker lip, the lower face of the sucker disk seat are provided with sucker cavity, and the sucker lip includes nitrile rubber adhesive linkage, silicon rubber contacts
Layer, upper enhancing rib net layer and lower enhancing rib net layer；The free end of the robot body and the upper end of the upper airway tube are consolidated
Fixed connection, the lower end of the upper airway tube are connected with the upper end fluid communication of the downtake, the lower end of the downtake
It is connected through the Universal-head with the upper end fluid communication of the first passage in the sucker disk seat, the Universal-head and the suction
The upper end of disk seat is fixedly connected, and the inwall of the sucker cavity is fixedly connected with the upper enhancing rib net layer, the upper enhancing muscle
Stratum reticulare is fixedly connected with the nitrile rubber adhesive linkage upper face, the nitrile rubber adhesive linkage lower face and the lower enhancing muscle
Stratum reticulare is fixedly connected, and the lower enhancing rib net layer is fixedly connected with the silicon rubber contact layer upper face；First passage
Lower end be connected with the upper end fluid communication of the second passage in the sucker lip, the lower end of second passage and sucker
Gaseous fluid conducting below lip.
Above-mentioned vacuum chuck type manipulator end effector, the lower face of the silicon rubber contact layer are uniformly provided with hemispherical
Groove, air slot is provided between adjacent two hemispherical grooves.
Above-mentioned vacuum chuck type manipulator end effector, the radius of the hemispherical groove is 0.2-1cm.
Above-mentioned vacuum chuck type manipulator end effector, the lower face of the silicon rubber contact layer are provided with and the suction
The coaxial elastomeric material annular projection of disk seat, the lower end of the elastomeric material annular projection are located at the upper of the sucker cavity lower end
Side.
Above-mentioned vacuum chuck type manipulator end effector, described in inside and outside the elastomeric material annular projection
The lower face of silicon rubber contact layer is uniformly provided with hemispherical groove, positioned at the adjacent of described elastomeric material annular projection the same side
Air slot is provided between two hemispherical grooves.
Above-mentioned vacuum chuck type manipulator end effector, the radius of the hemispherical groove is 0.2-1cm.
The beneficial effects of the utility model are as follows：
1. the utility model can utilize the air between silicon rubber contact layer extruding contact surface coarse particles, and then strengthen true
The absorption affinity of suction disk, it is reduced to improve energy consumption and the operation inconvenience that vacuum cup internal vacuum is brought, achieves a butt joint tactile
The article that face is relatively rough and roughness is uneven is shifted using vacuum cup.
2. it can be advantageously reduced vacuum system in order to improve the vacuum in sucker cavity and taken out very using hemispherical groove
The energy consumption of space-time.
3. elastomeric material annular projection can make the size of vacuum cup absorption contact surface not meet the thing of sucker disk seat size
Product, reduce the trouble that vacuum cup is changed.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model vacuum chuck type manipulator end effector；
Fig. 2 is the structural representation of the vacuum cup of the utility model vacuum chuck type manipulator end effector；
Fig. 3 is the structural representation of the silicon rubber contact layer of the utility model vacuum chuck type manipulator end effector.
In figure, 1- robot bodies；2- vacuum cups, the upper airway tubes of 2-1-, 2-2- downtakes, 2-3- Universal-heads,
2-4- sucker disk seats, strengthen rib net layer on 2-5-, 2-6- nitrile rubber adhesive linkages, strengthen rib net layer under 2-7-, 2-8- silicon rubber connects
Contact layer, 2-9- hemispherical grooves, 2-10- air slots, 2-11- elastomeric material annular protrusions, the passages of 2-12- first, 2-13-
Two passages.
Embodiment
In order to illustrate more clearly of the utility model, the utility model is done into one with reference to preferred embodiments and drawings
The explanation of step.Similar part is indicated with identical reference in accompanying drawing.It will be appreciated by those skilled in the art that below
Specifically described content is illustrative and be not restrictive, and should not limit the scope of protection of the utility model with this.
As depicted in figs. 1 and 2, the utility model vacuum chuck type manipulator end effector, including vacuum cup 2 and machine
Tool arm body 1, the vacuum cup 2 include upper airway tube 2-1, downtake 2-2, Universal-head 2-3, sucker disk seat 2-4 and suction
Disk lip, the lower face of the sucker disk seat 2-4 are provided with sucker cavity, and the sucker lip includes nitrile rubber adhesive linkage 2-6, silicon rubber
Contact layer 2-8, upper enhancing rib net layer 2-5 and lower enhancing rib net layer 2-7；The free end of the robot body 1 with it is described on
Airway tube 2-1 upper end is fixedly connected, the lower end of the upper airway tube 2-1 and the upper end fluid communication of the downtake 2-2
Connection, the lower end of the downtake 2-2 pass through the first passage 2-12 in the Universal-head 2-3 and sucker disk seat 2-4
The connection of upper end fluid communication, the Universal-head 2-3 is fixedly connected with the upper end of the sucker disk seat 2-4, the sucker cavity
Inwall is fixedly connected with the upper enhancing rib net layer 2-5, the upper enhancing rib net layer 2-5 and nitrile rubber adhesive linkage 2-6
Upper face is fixedly connected, and the nitrile rubber adhesive linkage 2-6 lower faces are fixedly connected with the lower enhancing rib net layer 2-7, described
Lower enhancing rib net layer 2-7 is fixedly connected with the silicon rubber contact layer 2-8 upper faces；The lower end of the first passage 2-12 with
The upper end fluid communication connection of the second passage 2-13 in the sucker lip, the lower end of the second passage 2-13 with it is described
Gaseous fluid conducting below sucker lip.
For the ease of when article contacts face to be moved size can not meet the sucker disk seat 2-4 sizes, that is, utilizing
When the sucker lip on the sucker disk seat 2-4 can not integrally realize adsorbent article, it can be changed without using the utility model
Carry out item transfer on the premise of the vacuum cup 2, in the present embodiment, be provided with the lower face of the silica gel contact layer with
Elastomeric material annular protrusion 2-11 coaxial the sucker disk seat 2-4, the lower end of the elastomeric material annular protrusion 2-11 is located at institute
The top of sucker cavity lower end is stated, and in order to improve the vacuum in sucker cavity and reduce energy when vacuum system vacuumizes
Consumption, uniformly sets in the lower face of the silicon rubber contact layer 2-8 inside and outside the elastomeric material annular protrusion 2-11
There is hemispherical groove 2-9, as shown in figure 3, described in adjacent two positioned at described elastomeric material annular protrusion 2-11 the same sides
Air slot 2-10 is provided between hemispherical groove 2-9, wherein, the radius of the hemispherical groove 2-9 is 0.2cm, the silicon rubber
It is 0.5cm to be glued contact layer 2-8 thickness.
During using the utility model, the lower end of the vacuum cup 2 is placed on article using the robot body 1
On, and make the marginal portion of the sucker disk seat 2-4 and the contact surface of article to be moved fully basic, then will by vacuum system
Air in the sucker cavity is extracted out, during the air in the sucker cavity is extracted, the silicon rubber contact
Layer 2-8 partly can be attached on the contact surface of article, and yielding using silastic material specific can contact silicon rubber
A certain degree of deformation occurs for layer 2-8 lower faces, and article contact surface is raised or intergranular air so as to extruding, and improves the suction
The vacuum for intracavitary of circling or whirl in the air, and utilize the hemispherical groove 2-9 and air slot 2-10 can be further by the suction
The air discharge for intracavitary of circling or whirl in the air, consequently facilitating improving the vacuum in the sucker cavity, is advantageous to improve the vacuum cup 2
Absorption affinity, and then improve using the utility model transfer article security.
Obviously, above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to embodiment of the present utility model, for those of ordinary skill in the field, in described above
On the basis of can also make other changes in different forms, all embodiments can not be exhaustive here,
It is every to belong to obvious changes or variations that the technical solution of the utility model is extended out still in of the present utility model
The row of protection domain.
Claims (6)
1. vacuum chuck type manipulator end effector, it is characterised in that including vacuum cup (2) and robot body (1),
The vacuum cup (2) includes upper airway tube (2-1), downtake (2-2), Universal-head (2-3), sucker disk seat (2-4) and sucker
Lip, the lower face of the sucker disk seat (2-4) are provided with sucker cavity, and the sucker lip includes nitrile rubber adhesive linkage (2-6), silicon rubber
It is glued contact layer (2-8), upper enhancing rib net layer (2-5) and lower enhancing rib net layer (2-7)；The freedom of the robot body (1)
End is fixedly connected with the upper end of the upper airway tube (2-1), lower end and the downtake (2- of the upper airway tube (2-1)
2) upper end fluid communication connection, the lower end of the downtake (2-2) passes through the Universal-head Universal-head (2-3) and the suction
The upper end fluid communication connection of the first passage (2-12) in disk seat (2-4), the Universal-head (2-3) and the sucker disk seat
The upper end of (2-4) is fixedly connected, the inwall of the sucker cavity with it is described it is upper enhancing rib net layer (2-5) be fixedly connected, it is described on
Enhancing rib net layer (2-5) is fixedly connected with nitrile rubber adhesive linkage (2-6) upper face, the nitrile rubber adhesive linkage (2-
6) lower face is fixedly connected with the lower enhancing rib net layer (2-7), and the lower enhancing rib net layer (2-7) contacts with the silicon rubber
Layer (2-8) upper face is fixedly connected；The lower end of first passage (2-12) and the second passage (2- in the sucker lip
13) upper end fluid communication connection, the lower end of second passage (2-13) turns on the gaseous fluid below sucker lip.
2. vacuum chuck type manipulator end effector according to claim 1, it is characterised in that the silicon rubber contact
The lower face of layer (2-8) is uniformly provided with hemispherical groove (2-9), is provided between adjacent two hemispherical grooves (2-9)
Air slot (2-10).
3. vacuum chuck type manipulator end effector according to claim 2, it is characterised in that the hemispherical groove
The radius of (2-9) is 0.2-1cm.
4. vacuum chuck type manipulator end effector according to claim 1, it is characterised in that the silicon rubber contact
The lower face of layer (2-8) is provided with the elastomeric material annular protrusion (2-11) coaxial with the sucker disk seat (2-4), the elastic material
The lower end of material annular protrusion (2-11) is located at the top of the sucker cavity lower end.
5. vacuum chuck type manipulator end effector according to claim 4, it is characterised in that positioned at the elastic material
The lower face of the silicon rubber contact layer (2-8) inside and outside material annular protrusion (2-11) is uniformly provided with hemispherical groove (2-
9), set between adjacent two hemispherical groove (2-9) of described elastomeric material annular protrusion (2-11) the same side
There is air slot (2-10).
6. vacuum chuck type manipulator end effector according to claim 5, it is characterised in that the hemispherical groove
The radius of (2-9) is 0.2-1cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720414703.8U CN206764810U (en) | 2017-04-19 | 2017-04-19 | Vacuum chuck type manipulator end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720414703.8U CN206764810U (en) | 2017-04-19 | 2017-04-19 | Vacuum chuck type manipulator end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206764810U true CN206764810U (en) | 2017-12-19 |
Family
ID=60634344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720414703.8U Expired - Fee Related CN206764810U (en) | 2017-04-19 | 2017-04-19 | Vacuum chuck type manipulator end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206764810U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994869A (en) * | 2018-09-26 | 2018-12-14 | 天津包博特密封科技有限公司 | Automotive hub overturns carrying handgrip sucker |
| CN109366513A (en) * | 2018-12-18 | 2019-02-22 | 广东华工佳源环保科技有限公司 | Dry embryo upset sucking disc frame of paper pulp moulded product |
| CN113211484A (en) * | 2021-05-07 | 2021-08-06 | 南通大学 | Underwater surrounding device |
| CN115159099A (en) * | 2022-08-17 | 2022-10-11 | 安庆市芊芊纸业有限公司 | Automatic transfer device is used in processing of flute paper cup |
-
2017
- 2017-04-19 CN CN201720414703.8U patent/CN206764810U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994869A (en) * | 2018-09-26 | 2018-12-14 | 天津包博特密封科技有限公司 | Automotive hub overturns carrying handgrip sucker |
| CN109366513A (en) * | 2018-12-18 | 2019-02-22 | 广东华工佳源环保科技有限公司 | Dry embryo upset sucking disc frame of paper pulp moulded product |
| CN113211484A (en) * | 2021-05-07 | 2021-08-06 | 南通大学 | Underwater surrounding device |
| CN113211484B (en) * | 2021-05-07 | 2022-07-12 | 南通大学 | Underwater surrounding device |
| CN115159099A (en) * | 2022-08-17 | 2022-10-11 | 安庆市芊芊纸业有限公司 | Automatic transfer device is used in processing of flute paper cup |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171219 Termination date: 20210419 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |