Vacuum grabbing device and robot

Abstract

The present invention belongs to the field of warehousing and logistics, and specifically discloses a vacuum grasping device and a robot, wherein the vacuum grasping device includes a vacuum generator, an annular cavity and an adsorption assembly. The annular cavity is connected to the vacuum generator; the adsorption assembly is provided with a plurality of adsorption assemblies, and the plurality of adsorption assemblies are arranged at intervals along the circumference of the annular cavity on one side of the axial direction of the annular cavity, and the adsorption assembly includes a vacuum logic valve and a suction cup connected to one end of the vacuum logic valve, and the other end of the vacuum logic valve is connected to the annular cavity. The robot includes a mechanical arm and the above-mentioned vacuum grasping device, and the vacuum grasping device is installed on the mechanical arm. The annular cavity has a contoured structure, which is convenient for realizing the rapid grasping of the coil tray. The vacuum logic valve installed on the suction cup can automatically adjust the number of working suction cups according to the actual situation, so that the vacuum grasping device can be suitable for coil trays of different models or sizes. At the same time, the vacuum grasping device is installed on the mechanical arm to improve the grasping efficiency of the robot.

Description

Technical Field

[0001] The present invention relates to the field of warehousing logistics, and in particular to a vacuum grabbing device and a robot. Background Art

[0002] There are many application scenarios for coiled trays in the warehousing and logistics industry. Due to the special shape of the product and the limitations of inventory forms, the grabbing and storage of coiled trays require manual assistance. Its low efficiency seriously restricts the development of warehousing and logistics.

[0003] Since the coil tray is mainly circular, with a core shaft with a hole in the center, spoke-type ribs at both ends, and holes of various shapes on the spokes. In the prior art, ordinary vacuum suction cups can be designed separately for a single type of coil tray. However, with the development of warehousing and logistics, there are many types of coil trays in actual storage warehouses or production scenarios. Special vacuum suction cups can no longer meet the needs of grabbing or carrying a variety of coil trays, and the purchase and maintenance of a variety of special vacuum suction cup equipment increases the cost of logistics storage. In addition, when the vacuum suction cup is in use, multiple suction cups work at the same time, which is not suitable for situations where only some of the suction cups need to work. If only some of the suction cups work, gas will leak from the non-working suction cups, making the other suction cups unable to suck the coil tray.

[0004] Therefore, there is an urgent need for a vacuum gripping device and a robot that can be applied to a variety of coil trays to solve the above problems. Summary of the invention

[0005] An object of the present invention is to provide a vacuum gripping device which automatically adjusts the number of working suction cups to adapt to the gripping or handling of various coil trays.

[0006] Another object of the present invention is to provide a robot that uses the above-mentioned vacuum gripping device to improve the efficiency of the robot in gripping or carrying coil trays.

[0007] To achieve this purpose, the technical solution adopted by the present invention is:

[0008] A vacuum grabbing device, comprising:

[0009] Vacuum generator;

[0010] an annular cavity, the annular cavity being in communication with the vacuum generator;

[0011] There are multiple adsorption components, and the multiple adsorption components are arranged on one side of the axial direction of the annular cavity at intervals along the circumference of the annular cavity. The adsorption components include a vacuum logic valve and a suction cup connected to one end of the vacuum logic valve, and the other end of the vacuum logic valve is connected to the annular cavity.

[0012] Furthermore, the annular cavity is provided with a first mounting hole connected to the vacuum generator.

[0013] Furthermore, the annular cavity is provided with second mounting holes connected to the vacuum logic valve, and the number of the second mounting holes is the same as that of the vacuum logic valves and they correspond one to one.

[0014] Furthermore, the outer diameter of the annular cavity is 100 mm to 180 mm.

[0015] Furthermore, the suction cup is a bellows suction cup, and the bellows suction cup is connected to the vacuum logic valve.

[0016] Furthermore, the suction cup is made of rubber or polyurethane.

[0017] Furthermore, the annular cavity is made of aluminum alloy.

[0018] A robot comprises a mechanical arm and the vacuum grasping device as described above, wherein the vacuum grasping device is installed on the mechanical arm.

[0019] Furthermore, a positioning plate is provided inside the inner ring of the annular cavity, and a positioning hole is opened in the positioning plate, and the robot arm can pass through the positioning hole to be connected with the positioning plate.

[0020] Furthermore, the positioning plate is also provided with a through hole, and the mechanical arm is correspondingly provided with a connecting portion, and a fastener can pass through the through hole and the connecting portion in sequence to achieve a fixed connection between the mechanical arm and the positioning plate.

[0021] The beneficial effects of the present invention are:

[0022] The vacuum grabbing device proposed in the present invention adopts an annular cavity as a unified vacuum chamber for multiple adsorption components, simplifies the suction cup air path, and the annular cavity has a contoured structure, which is convenient for realizing the rapid grabbing of the coiled material tray. A vacuum logic valve is installed on each suction cup, so that the vacuum grabbing device can close the air extraction channel of the suction cup that is not adsorbed on the coiled material tray according to the actual grabbing of the coiled material tray, so as to ensure the normal operation of the vacuum grabbing device, so that the vacuum grabbing device can be applied to coiled material trays of various models or sizes, and has a certain degree of versatility.

[0023] The robot proposed by the present invention installs the vacuum grasping device on the mechanical arm to realize rapid grasping of the coil disk, thereby improving the working efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the vacuum grabbing device provided by the present invention;

[0025] Figure 2It is a structural schematic diagram of the annular cavity provided by the present invention;

[0026] Figure 3 is a front view schematic diagram of the annular cavity provided by the present invention;

[0027] Figure 4 It is a structural schematic diagram of the suction cup provided by the present invention.

[0028] In the figure:

[0029] 1. Vacuum generator;

[0030] 2. annular cavity; 21. first mounting hole; 22. second mounting hole; 23. positioning plate; 231. positioning hole; 232. through hole;

[0031] 3. Adsorption assembly; 31. Suction cup; 311. Bellows; 312. Main body; 32. Vacuum logic valve. DETAILED DESCRIPTION

[0032] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the present invention are further described below in conjunction with the accompanying drawings and through specific implementation methods. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, not all.

[0033] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0035] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0036] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0037] Vacuum suction cups are widely used in the warehousing and logistics industry and automated production lines, greatly improving the efficiency of cargo storage or workpiece processing and transportation. However, the structure of the coil tray is mainly circular, with a core shaft with a hole in the center, spoke-type ribs at both ends, and holes of various forms on the spokes. Ordinary vacuum grippers or suction cups are difficult to meet the needs of grabbing or carrying various forms of coil trays, and there are problems such as loose gripping. Using a dedicated vacuum gripper for a specific form of coil tray will not only increase costs, but also fail to meet the needs of increasingly diverse coil trays in structure or type. In addition, when the vacuum suction cup is in use, multiple suction cups work at the same time, which is not suitable for situations where only some suction cups are required to work. If only some suction cups work, gas will leak from the suction cups that are not working, making the other suction cups unable to adsorb the coil tray.

[0038] To solve the above technical problems, Figure 1 As shown, this embodiment provides a vacuum grasping device, which includes a vacuum generator 1, an annular cavity 2 and an adsorption assembly 3. The annular cavity 2 is connected to the vacuum generator 1. There are multiple adsorption assemblies 3, and the multiple adsorption assemblies 3 are arranged at intervals along the circumference of the annular cavity 2 on one side of the axial direction of the annular cavity 2, wherein the adsorption assembly 3 includes a vacuum logic valve 32 and a suction cup 31, one end of the vacuum logic valve 32 is connected to the suction cup 31, and the other end is connected to the annular cavity 2.

[0039] The vacuum grabbing device adopts the annular cavity 2 as a unified vacuum chamber for multiple adsorption components 3, which simplifies the air path of the suction cup 31, and the annular cavity 2 has a contoured structure, which is convenient for quickly grabbing the coil. A vacuum logic valve 32 is installed on each suction cup 31, so that the vacuum grabbing device can close the air extraction channel of the suction cup 31 that is not adsorbed on the coil according to the actual situation of the coil to be grabbed to ensure the normal operation of the vacuum grabbing device, so that the vacuum grabbing device can be applied to coils of various models or sizes, and has a certain degree of versatility.

[0040] In this embodiment, the axial cross-section of the annular cavity 2 is rectangular and is internally connected as a whole. A vacuum generator 1 is installed on one side of the axial direction of the annular cavity 2, and a plurality of adsorption components 3 are installed on the other side. The vacuum generator 1, the annular cavity 2 and the plurality of adsorption components 3 are connected to each other.

[0041] like Figure 2 As shown, the annular cavity 2 is provided with a first mounting hole 21, and the vacuum generator 1 is connected to the annular cavity 2 through the first mounting hole 21. It is understandable that a plurality of vacuum generators 1 can be installed on the annular cavity 2 to improve the efficiency of vacuum extraction of the vacuum grasping device and enhance the adsorption force of the suction cup 31, and the number of the first mounting holes 21 and the vacuum generator 1 is the same and one-to-one corresponding. The installation position and the number of the vacuum generators 1 need to be determined according to the grasping requirements of the coiled material tray, and this embodiment does not specifically limit it.

[0042] like Figure 3 As shown, a second mounting hole 22 connected to the vacuum logic valve 32 is provided on the side of the annular cavity 2 opposite to the first mounting hole 21, and the number of the second mounting holes 22 is the same as the number of the vacuum logic valves 32 and corresponds one to one. The suction cup 31 is connected to the annular cavity 2 through the vacuum logic valve 32 and the second mounting hole 22.

[0043] In this embodiment, the second mounting hole 22 is a threaded hole, and the vacuum logic valve 32 is fixed and connected to the annular cavity 2 by threaded connection. The second mounting holes 22 are arranged on the annular cavity 2 at equal intervals along the circumference of the annular cavity 2. It can be understood that the number of the second mounting holes 22 opened on the annular cavity 2 and the spacing between two adjacent second mounting holes 22 can be adjusted according to actual working conditions, and this embodiment does not specifically limit it.

[0044] Figure 4 Schematic diagram of the structure of the suction cup 31 provided in this embodiment. Figure 4 As shown, the suction cup 31 is a corrugated suction cup, and the corrugated suction cup includes a bellows 311 and a body 312, wherein both ends of the bellows 311 are respectively connected to the body 312 and the vacuum logic valve 32. The bellows 311 allows the body 312 of the suction cup 31 to fine-tune the adsorption direction according to the irregular surface that may exist on the coil when adsorbing the coil, so as to improve the gripping efficiency and stability of the suction cup 31 on the coil. In other embodiments, the bellows 311 can also use other flexible metal tubes or flexible composite material tubes. In order to improve the strength and service life of the suction cup 31, the suction cup 31 is made of rubber and polyurethane, and specifically nitrile rubber or silicone rubber to prevent the surface of the coil from being scratched when the suction cup 31 grabs it.

[0045] This embodiment also provides a robot, which includes a mechanical arm and the above-mentioned vacuum grabbing device, and the vacuum grabbing device is installed on the mechanical arm. By installing the vacuum grabbing device on the mechanical arm, the vacuum device can grasp and carry the coil tray, thereby improving the working efficiency of the robot.

[0046] In order to install the vacuum gripper on the robot arm, Figure 2 and Figure 3 As shown, a positioning plate 23 is provided in the inner ring of the annular cavity 2, and a positioning hole 231 is provided in the positioning plate 23, and the robot arm can pass through the positioning hole 231 to connect with the positioning plate 23. In order to improve the stable installation of the robot arm and the positioning plate 23, the positioning plate 23 is also provided with a through hole 232, and a connecting part is correspondingly provided on the robot arm, and the fastener can pass through the through hole 232 and the connecting part in sequence to realize the fixed connection between the robot arm and the positioning plate 23.

[0047] In the present embodiment, the positioning plate 23 is a circular plate inscribed in the inner ring of the annular cavity 2, and the circular plate is provided with the above-mentioned positioning hole 231, which is a rectangular hole and a circular hole connected to the rectangular hole. It is understandable that the size and shape of the positioning hole 231 need to be determined according to the size of the end of the robot arm, and this embodiment does not specifically limit it. A rectangular groove is also connected to one side of the rectangular hole, and two through holes 232 are provided in the rectangular groove, so that the fastener can pass through the through hole 232 and the connecting part on the robot arm in turn to fix the robot arm and the positioning plate 23. The fastener is specifically a bolt. In other embodiments, the fastener can also be a fastening structure such as a pin. The fixed structure that can realize the vacuum gripping device and the robot arm is a conventional technical means in the field, and this embodiment will not be repeated.

[0048] It should be noted that the outer diameter and inner diameter of the annular cavity 2 need to be set according to the size of the coil to be grasped. In the present embodiment, the outer diameter of the annular cavity 2 is specifically 100 mm to 180 mm. As for the size of the inner diameter, it is only necessary to realize the fixed connection between the vacuum grasping device and the robotic arm, and this example does not make specific limitations. In order to improve the strength of the vacuum grasping device and reduce its weight, the material of the annular cavity 2 is specifically aluminum alloy. It is understandable that the material of the annular cavity 2 can also be alloy steel.

[0049] For ease of understanding, the working principle of the vacuum gripping device is explained as follows:

[0050] The vacuum generator 1 extracts air through the first mounting hole 21, and the air enters the annular cavity 2 through the suction cup 31 and the vacuum logic valve 32. The suction cup 31 of the vacuum gripping device is close to the coil disc. Due to various hollow openings on the coil disc, some suction cups 31 cannot be adsorbed and cannot generate adsorption force. For the suction cup 31 that cannot be adsorbed, the vacuum logic valve 32 connected to it automatically disconnects its air extraction channel to ensure that the vacuum degree of the vacuum gripping device is not destroyed. The other suction cups 31 adsorbed on the surface of the coil disc can continue to generate adsorption force to grab and carry the coil disc.

[0051] The annular cavity 2 of the vacuum grabbing device has a contoured structure, which facilitates the rapid grabbing of the coiled material tray of the annular structure. The vacuum logic valve 32 can close the air path of the suction cup 31 that does not adsorb the coiled material tray according to the actual adsorption of the coiled material tray by the suction cup 31 to ensure the normal operation of the vacuum grabbing device, so that the vacuum grabbing device can be applied to coiled material trays of various models or sizes, and has a certain degree of versatility.

[0052] The above embodiments are only to illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and modifications, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A vacuum gripping device, characterized in that: include: Vacuum generator (1); An annular cavity (2), the annular cavity (2) being in communication with the vacuum generator (1); A plurality of adsorption assemblies (3) are provided, wherein the plurality of adsorption assemblies (3) are arranged at intervals along the circumference of the annular cavity (2) on one side of the axial direction of the annular cavity (2), the adsorption assembly (3) comprising a vacuum logic valve (32) and a suction cup (31) connected to one end of the vacuum logic valve (32), and the other end of the vacuum logic valve (32) is connected to the annular cavity (2); The annular cavity (2) is provided with a first mounting hole (21) connected to the vacuum generator (1); the annular cavity (2) is provided with a second mounting hole (22) connected to the vacuum logic valve (32); the number of the second mounting holes (22) and the number of the vacuum logic valves (32) are the same and correspond one to one; the second mounting hole (22) is located on a side of the annular cavity (2) opposite to the first mounting hole (21).

2. The vacuum gripping device according to claim 1, characterized in that: The outer diameter of the annular cavity (2) is 100 mm to 180 mm.

3. The vacuum gripping device according to claim 1, characterized in that: The suction cup (31) is a bellows suction cup, and the bellows suction cup is connected to the vacuum logic valve (32).

4. The vacuum gripping device according to claim 1, characterized in that: The suction cup (31) is made of rubber or polyurethane.

5. The vacuum gripping device according to claim 1, characterized in that: The material of the annular cavity (2) is aluminum alloy.

6. A robot, characterized in that: It comprises a mechanical arm and a vacuum grasping device as described in any one of claims 1 to 5, wherein the vacuum grasping device is installed on the mechanical arm.

7. The robot according to claim 6, characterized in that: A positioning plate (23) is arranged inside the inner ring of the annular cavity (2), and a positioning hole (231) is provided in the positioning plate (23), and the mechanical arm can pass through the positioning hole (231) to be connected to the positioning plate (23).

8. The robot according to claim 7, characterized in that: The positioning plate (23) is also provided with a through hole (232), and the mechanical arm is correspondingly provided with a connecting portion, and a fastener can sequentially pass through the through hole (232) and the connecting portion to achieve a fixed connection between the mechanical arm and the positioning plate (23).

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