CN210365929U

CN210365929U - Novel sucker gripper

Info

Publication number: CN210365929U
Application number: CN201921080826.8U
Authority: CN
Inventors: 袁雷; 马福军; 赵英宇; 郝青; 于鹏; 刘得付; 陈鹏飞; 李华; 肖绿山; 赵永进
Original assignee: Tangshan Yinglai Science & Technology Co ltd
Current assignee: Tangshan Yinglai Science & Technology Co ltd
Priority date: 2019-07-11
Filing date: 2019-07-11
Publication date: 2020-04-21
Anticipated expiration: 2029-07-11

Abstract

The utility model discloses a new type sucker gripper, which relates to the technical field of sucker grippers, and comprises an installation fixing mechanism, a moving supporting mechanism, a first driving mechanism and a second driving mechanism, wherein the installation fixing mechanism is fixedly arranged on the middle section of the rear side surface of the moving supporting mechanism, the first driving mechanism and the second driving mechanism are respectively correspondingly arranged on the upper surface and the lower surface of the moving supporting mechanism, compared with the prior art, the sucker gripper is more suitable for gripping various workpieces, a plurality of suckers are designed with more reliable suction effect, the interval is adjustable, the trouble of frequently replacing the sucker is avoided, the working efficiency is greatly improved, the connecting rod mechanism is adjusted to have good adjustment precision compared with the sucker rack moving driven by a sliding block component on a sliding rail pushed by a cylinder, the limit position of the adjustment process is provided with a buffer, the vibration impact when the cylinder acts can be greatly reduced, and the practicability of the sucker gripper when gripping the workpieces is greatly improved, has scientific and reasonable structure and safe and convenient use.

Description

Novel sucker gripper

Technical Field

The utility model relates to a sucking disc tongs technical field specifically is a new form sucking disc tongs.

Background

The sucker gripper is a common accessory in a robot system, and can provide much convenience when gripping workpieces. In particular smooth-surfaced workpieces, such as porcelain pieces, glass pieces, etc.

Through the retrieval, chinese patent discloses a sucking disc formula tongs (publication number CN204976651U), and this patent technical content includes a plurality of grab arm that a tip installed the sucking disc to and the drive arrangement who connects through the pivot, its characterized in that, a plurality of the grab arm other end all wears the cover to be connected in the pivot, drive arrangement passes through the swing arm and connects the pivot, the fixed cover of wearing of swing arm one end is in the pivot, the swing arm middle part is connected drive arrangement, the swing arm with the rotatory plane of grab arm all is perpendicular to the pivot axis. The utility model drives the rotating shaft to rotate through the swing arm to form the driving displacement to the sucker, and the reciprocating motion of the cylinder leads to the reciprocating motion of the grabbing arm; the telescopic device connected with the universal joint can keep the motion stability of the swing arm, and meanwhile, when an object sucked by the sucker is overweight, the air cylinder connected with the universal joint can assist the grabbing arm to reset; the rotating shaft is simultaneously provided with a plurality of gripping arms, so that the gripper can grip a plurality of workpieces simultaneously, or a plurality of gripping arms can grip a larger workpiece simultaneously;

through the retrieval, chinese patent discloses a pneumatic tongs of unloading of double-end sucking disc formula (publication number CN204823241U), and this patent technical content includes the pneumatic tongs of unloading of double-end sucking disc formula contain a sucking disc support, the sucking disc support contain the hollow first central siphon of a vertical setting, first central siphon bottom be equipped with a pair of hollow second central siphon that outwards extends, the end of second central siphon be equipped with the hollow third central siphon of a vertical setting respectively, the third central siphon on be equipped with a detachable sucking disc respectively, first central siphon with second central siphon and third central siphon link up mutually, the lateral wall of first central siphon on be equipped with a pair of air cock. Owing to adopt the double-end sucking disc, improved the adsorption affinity of sucking disc to the working of plastics greatly, reliable and stable effectively avoids the working of plastics to drop, has effectively improved material transportation efficiency, simple structure, and the effect is obvious, and the practicality is strong.

To sum up, the robot sucks the work piece through the sucking disc evacuation of two fixed positions, also has a few sucking disc tongs of sucking disc interval adjustable, and the sucking disc of sucking disc tongs fixed position if absorb the jumbo size work piece when need continue work after the sucking disc is changed through the sucking disc joint quick change, appear the work piece phenomenon that drops easily moreover in the absorption process, quick change process influence work efficiency, the enterprise needs the sucking disc of deposit multiple specification, has increased the cost of enterprise.

The suction cup space in most of the suction cup grippers in the two patents and the prior art can not be adjusted, the suction cups in a small part of the suction cup grippers can be adjusted, but are mostly adjusted through a connecting rod mechanism, the adjustment precision is difficult to guarantee, the failure rate is high, and therefore a new type of suction cup gripper is provided.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a brand-new form sucking disc tongs, this sucking disc tongs can adsorb the work piece and press from both sides and get, can also adjust the sucking disc group interval of installing on the slide rail to the work piece of equidimension not, and every sucking disc group has reduced the absorption insecure by 4 or a plurality of sucking discs are constituteed in addition, and the efficiency of work piece transport can be improved greatly to the risk that the work piece dropped to improve the efficiency of whole production line.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a new form sucking disc tongs, includes installation fixed establishment, removes supporting mechanism, first actuating mechanism and second actuating mechanism, installation fixed establishment fixed mounting is on the middle section of removing supporting mechanism's rear side surface, first actuating mechanism and second actuating mechanism correspond respectively and install in the upper and lower surface that removes supporting mechanism, and the adsorption end of first actuating mechanism and second actuating mechanism all extends to the front side end face that removes supporting mechanism, and the adsorption end of both all is in the coplanar, remove supporting mechanism's upper and lower surface and be located the corresponding first buffer and the second buffer of installing in one side of first actuating mechanism and second actuating mechanism respectively.

As an optimized technical solution of the present invention, the first driving mechanism and the second driving mechanism and the first buffer and the second buffer are two sets of members with the same structure and size.

As a preferred technical scheme of the utility model, installation fixed establishment includes mounting panel, support column, linkage plate and reinforcing plate, the rear end face of mounting panel and the ring flange fixed connection of industrial robot arm, the preceding terminal surface of mounting panel and the rear end face fixed connection of support column, the preceding terminal surface fixedly connected with linkage plate's of support column rear end face, be connected with a reinforcing plate between mounting panel, support column and the linkage plate jointly.

As a preferred technical scheme of the utility model, remove supporting mechanism and include tongs main body frame, slide rail and slider, slide rail of intermediate position fixedly connected with of tongs main body frame front end face, slidable slider has been cup jointed to the outside of slide rail.

As a preferred technical scheme of the utility model, a actuating mechanism includes the cylinder of fixed mounting on tongs main body frame, the one end of fixedly connected with driving plate on the drive end of cylinder, the rear side terminal surface of the other end fixedly connected with sliding plate of driving plate, the front side terminal surface of sliding plate passes through bolt fixedly connected with drive plate, the front side terminal surface of drive plate passes through welding mode fixedly connected with sucking disc frame, the sucking disc is installed to sucking disc frame's embedded inside.

As an optimal technical solution of the present invention, the intermediate position of the rear end face of the sliding plate is fixed and provided with an expansion groove, and the net size of the expansion groove is matched with the size of the slider.

As an optimal technical scheme of the utility model, through welding mode fixedly connected with reinforcement between drive plate and the sucking disc frame, the sucking disc frame reinforcement is the component of a regular triangle structure.

As a preferred technical scheme of the utility model, all be provided with the cylinder among first actuating mechanism and the second actuating mechanism, cylinder fixed mounting among the first actuating mechanism is at tongs main body frame's upper surface, cylinder fixed mounting among the second actuating mechanism is at tongs main body frame's lower surface, cylinder among the first actuating mechanism and the cylinder stroke among the second actuating mechanism are different.

As a preferred technical scheme of the utility model, being provided with two sets ofly altogether of slider, every group is provided with two altogether, and two sets of sliders correspond the gliding board in the first actuating mechanism and the gliding board in the second actuating mechanism respectively.

Compared with the prior art, the beneficial effects of the utility model are that: compared with the prior art, the multi-sucker grabbing device is more suitable for grabbing of multiple workpieces, a more reliable sucking effect is designed for multiple suckers, the interval is adjustable, the trouble of frequently replacing the suckers is eliminated, the working efficiency is greatly improved, the sliding block assembly on the sliding rail is pushed by the cylinder to drive the sucker frame to move, the adjusting precision is good compared with that of a connecting rod mechanism, the limit position of the adjusting process is provided with the buffer, vibration impact during cylinder action can be greatly reduced, and the practicability of the sucker tongs when the workpieces are grabbed is greatly improved.

Drawings

Fig. 1 is a schematic top view of the present invention;

fig. 2 is a schematic bottom view of the present invention;

fig. 3 is a schematic structural view of the mounting and fixing mechanism of the present invention;

fig. 4 is a schematic structural view of the movable support mechanism of the present invention;

fig. 5 is a schematic structural diagram of the first driving mechanism of the present invention.

In the figure: 1. installing a fixing mechanism; 11. mounting a plate; 12. a support pillar; 13. a connector tile; 14. a reinforcing plate; 2. a mobile support mechanism; 21. a gripper main body frame; 22. a slide rail; 23. a slider; 3. a first buffer; 4. a first drive mechanism; 41. a cylinder; 42. a drive plate; 43. a slide plate; 44. a position expanding groove; 45. a drive plate; 46. a reinforcement; 47. a suction cup holder; 48. a suction cup; 5. a second drive mechanism; 6. a second buffer.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-2, the present invention provides a technical solution: a novel sucker gripper comprises a mounting and fixing mechanism 1, a moving support mechanism 2, a first driving mechanism 4 and a second driving mechanism 5, wherein the mounting and fixing mechanism 1 is fixedly mounted on the middle section of the rear side surface of the moving support mechanism 2, the first driving mechanism 4 and the second driving mechanism 5 are respectively and correspondingly mounted on the upper surface and the lower surface of the moving support mechanism 2, and the adsorption ends of the first driving mechanism 4 and the second driving mechanism 5 extend to the front end face of the movable supporting mechanism 2, and the adsorption ends of the two are all in the same plane, the upper surface and the lower surface of the movable supporting mechanism 2 are respectively provided with a first buffer 3 and a second buffer 6 at one side of the first driving mechanism 4 and one side of the second driving mechanism 5, and the first driving mechanism 4, the second driving mechanism 5, the first buffer 3 and the second buffer 6 are two groups of components with the same structure and size.

Referring to fig. 3, the mounting and fixing mechanism 1 includes a mounting plate 11, a supporting column 12, a connecting plate 13 and a reinforcing plate 14, a rear end surface of the mounting plate 11 is fixedly connected to a flange of a mechanical arm of the industrial robot, a front end surface of the mounting plate 11 is fixedly connected to a rear end surface of the supporting column 12, a front end surface of the supporting column 12 is fixedly connected to a rear end surface of the connecting plate 13, and the mounting plate 11, the supporting column 12 and the connecting plate 13 are connected to one reinforcing plate 14.

Referring to fig. 4, the movable support mechanism 2 includes a grip main frame 21, a slide rail 22 and a slide block 23, the slide rail 22 is fixedly connected to the middle of the front end of the grip main frame 21, and the slide block 23 is slidably sleeved outside the slide rail 22.

Referring to fig. 5, the first driving mechanism 4 includes an air cylinder 41 fixedly mounted on the gripper main body frame 21, one end of a transmission plate 42 is fixedly connected to a driving end of the air cylinder 41, a rear end surface of a sliding plate 43 is fixedly connected to the other end of the transmission plate 42, a driving plate 45 is fixedly connected to a front end surface of the sliding plate 43 through a bolt, a suction cup holder 47 is fixedly connected to a front end surface of the driving plate 45 through a welding manner, a suction cup 48 is mounted in the suction cup holder 47 in an embedded manner, a rubbing groove 44 is fixedly formed in a middle position of the rear end surface of the sliding plate 43, a clear size of the rubbing groove 44 is adapted to a size of the slide block 23, a reinforcing member 46 is fixedly connected between the driving plate 45 and the suction cup holder 47 through a welding manner, the suction cup holder reinforcing member 46 is a member with a regular triangular structure, the air cylinders 41 are disposed in the first driving mechanism 4 and the second driving mechanism 5, the air cylinder 41 in the first driving mechanism, the air cylinder 41 in the second driving mechanism 5 is fixedly arranged on the lower surface of the gripper main body frame 21, the air cylinder 41 in the first driving mechanism 4 and the air cylinder 41 in the second driving mechanism 5 have different strokes, two groups of the sliding blocks 23 are arranged, and the two groups of the sliding blocks 23 respectively correspond to the sliding plate 43 in the first driving mechanism 4 and the sliding plate 43 in the second driving mechanism 5.

The utility model discloses a theory of operation and use flow: firstly, the movable supporting mechanism 2, the first driving mechanism 4 and the second driving mechanism 5 can be realized by the aid of the mounting and fixing mechanism 1, the three are connected with a mounting flange on a mechanical arm of an industrial robot, so that the industrial robot can drive the device to act, basic support is provided for grabbing a workpiece, after mounting is finished, when the workpiece needs to be grabbed, the distance between a sucker frame 47 in the first driving mechanism 4 and a sucker frame 47 in the second driving mechanism 5 needs to be adjusted, during adjustment, the driving plate 45 drives the sucker frame 47 to move under the basic support of a sliding rail 22, a sliding block 23 and a sliding plate 43 through two air cylinders 41 with different strokes, so that the distance between the two sucker frames 47 is adjusted, the suckers 48 in the two sucker frames 47 are adjusted, and after adjustment, by means of an external vacuum generator and the sucker 48 connected with the vacuum generator, the material taking operation of the workpiece can be realized, the material discharging can be realized, and in the process that the air cylinder 41 drives the suction disc frame 47 to move, the first buffer 3 and the second buffer 6 can respectively play a role in buffering, so that the protection can be realized.

It is noted that, herein, relational terms such as first and second, and the like may be 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. Also, 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.

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

Claims

1. The novel sucker gripper comprises a mounting and fixing mechanism (1), a moving supporting mechanism (2), a first driving mechanism (4) and a second driving mechanism (5), and is characterized in that: the installation fixing mechanism (1) is fixedly installed on a middle section of the rear side surface of the movable supporting mechanism (2), the first driving mechanism (4) and the second driving mechanism (5) are respectively and correspondingly installed on the upper surface and the lower surface of the movable supporting mechanism (2), the adsorption ends of the first driving mechanism (4) and the second driving mechanism (5) extend to the front side end surface of the movable supporting mechanism (2), the adsorption ends of the first driving mechanism (4) and the second driving mechanism (5) are located in the same plane, and the upper surface and the lower surface of the movable supporting mechanism (2) are respectively and correspondingly provided with the first buffer (3) and the second buffer (6) on one side of the first driving mechanism (4) and one side of the second driving mechanism (5).

2. The new form of suction cup gripper as claimed in claim 1, characterized in that: the first driving mechanism (4), the second driving mechanism (5) and the first buffer (3) and the second buffer (6) are two groups of components with the same structure and size.

3. The new form of suction cup gripper as claimed in claim 1, characterized in that: installation fixed establishment (1) includes mounting panel (11), support column (12), links up fishplate bar (13) and reinforcing plate (14), the rear end face of mounting panel (11) and the ring flange fixed connection of industrial robot arm, the preceding terminal surface of mounting panel (11) and the rear end face fixed connection of support column (12), the preceding terminal surface fixedly connected with of support column (12) links up the rear end face of fishplate bar (13), be connected with a reinforcing plate (14) between mounting panel (11), support column (12) and the fishplate bar (13) jointly.

4. The new form of suction cup gripper as claimed in claim 1, characterized in that: the movable supporting mechanism (2) comprises a hand grip main body frame (21), a sliding rail (22) and a sliding block (23), the sliding rail (22) is fixedly connected to the middle position of the front end face of the hand grip main body frame (21), and the sliding block (23) capable of sliding is sleeved outside the sliding rail (22).

5. The new form of suction cup gripper as claimed in claim 4, characterized in that: the first driving mechanism (4) comprises a cylinder (41) fixedly mounted on the gripper main body frame (21), one end of a transmission plate (42) is fixedly connected to the driving end of the cylinder (41), the other end of the transmission plate (42) is fixedly connected with the rear end face of a sliding plate (43), the front end face of the sliding plate (43) is fixedly connected with a driving plate (45) through a bolt, the front end face of the driving plate (45) is fixedly connected with a sucker frame (47) through a welding mode, and a sucker (48) is mounted in the sucker frame (47) in an embedded mode.

6. The new form of suction cup gripper as claimed in claim 5, characterized in that: an expansion groove (44) is fixedly formed in the middle of the end face of the rear side of the sliding plate (43), and the net size of the expansion groove (44) is matched with the size of the sliding block (23).

7. The new form of suction cup gripper as claimed in claim 5, characterized in that: the driving plate (45) and the sucker frame (47) are fixedly connected with a reinforcing piece (46) in a welding mode, and the sucker frame reinforcing piece (46) is a component with a regular triangle structure.

8. The new form of suction cup gripper as claimed in claim 5, characterized in that: air cylinders (41) are arranged in the first driving mechanism (4) and the second driving mechanism (5), the air cylinders (41) in the first driving mechanism (4) are fixedly installed on the upper surface of the gripper main body frame (21), the air cylinders (41) in the second driving mechanism (5) are fixedly installed on the lower surface of the gripper main body frame (21), and the air cylinders (41) in the first driving mechanism (4) and the air cylinders (41) in the second driving mechanism (5) are different in stroke.

9. The new form of suction cup gripper as claimed in claim 5, characterized in that: the two groups of sliding blocks (23) are arranged, two sliding blocks are arranged in each group, and the two groups of sliding blocks (23) respectively correspond to the sliding plates (43) in the first driving mechanism (4) and the sliding plates (43) in the second driving mechanism (5).