Package grabbing device

Abstract

The package grabbing device provided by the present invention includes one package grabbing device including a base and a combined suction cup arranged at the bottom of the base, the combined suction cup includes a fixed first suction cup assembly and a movable second suction cup assembly, the first suction cup assembly includes a plurality of first suction cups, the second suction cup assembly includes a plurality of second suction cups, and the second suction cup assembly can telescope up and down relative to the base. Another package grabbing device includes a base and at least one suction cup assembly arranged at the bottom of the base, the suction cup assembly is used to suck up the package; the package grabbing device also includes a clamping device, the clamping device includes a first clamping jaw, a second clamping jaw, a first driving device and a second driving device, the first driving device and the second driving device are respectively used to drive the first clamping jaw and the second clamping jaw to flip in opposite directions to clamp the sucked package.

Description

Technical Field

[0001] The present invention relates to the technical field of package grabbing, and in particular to a package grabbing device. Background Art

[0002] In recent years, with the rapid development of express delivery companies, more and more people choose to shop online, resulting in excessive number of express parcels and heavy logistics pressure. Therefore, the use of parcel grabbing devices in express sorting, express transfer and other processes has become more and more extensive.

[0003] The parcel grabbing device in the prior art is not only large in size and occupies a lot of space, but also has poor compatibility and cannot grab parcels of different sizes and types well. At the same time, the parcel is easy to fall during the transfer process. At present, the packaging methods of express parcels are generally divided into two categories: paper boxes and soft bags. The parcel grabbing device generally uses lip suction cups or sponge suction cups, and the lip suction cups are generally divided into paper box suction cups and soft bag suction cups (the difference between the two is: 1. The standard suction force of the two is different. The suction force of the paper box suction cup is larger than that of the soft bag suction cup, so the paper box suction cup can better absorb the paper box package; 2. The two have different structures. The lip of the soft bag suction cup is thinner than that of the paper box suction cup, so the soft bag suction cup can better absorb the soft bag package, but the soft bag suction cup is more easily damaged than the paper box suction cup).

[0004] Taking the package grabbing device using lip suction cup as an example, some package grabbing devices all use paper box suction cups, which can effectively suck up hard packages such as cartons, but cannot suck up flexible packages such as soft bags well. When the paper box suction cups are used to suck up soft bag packages, the soft bag packages are easily deformed or broken due to excessive suction; some package grabbing devices all use soft bag suction cups, which can effectively suck up soft bag packages, but cannot suck up paper box packages well. When used to suck up paper box packages, the soft bag suction cups not only have insufficient suction force but are also easily damaged, resulting in a poor life of the suction cups. Summary of the invention

[0005] The package grabbing device provided by the present invention aims to solve the deficiencies existing in the above-mentioned background technology, and can not only increase the compatibility of the package grabbing device and realize the grabbing of different types of packages, but also extend the service life of the suction cup.

[0006] The present invention provides a package grabbing device, comprising a base and a combined suction cup arranged at the bottom of the base, the combined suction cup comprising a fixed first suction cup assembly and a movable second suction cup assembly, the first suction cup assembly comprising a plurality of first suction cups, the second suction cup assembly comprising a plurality of second suction cups, the second suction cup assembly being capable of telescopic movement up and down relative to the base; when the second suction cup assembly moves upward and retracts, the first suction cup assembly is in the lowest position and is used to suck a first type of package; when the second suction cup assembly moves downward and extends, the second suction cup assembly is in the lowest position and is used to suck a second type of package.

[0007] Furthermore, the first suction cup assembly is used to suck the paper box, and the second suction cup assembly is used to suck the soft bag.

[0008] Furthermore, the plurality of first suction cups are distributed at both ends of the base along the length direction of the base, and the plurality of second suction cups are distributed at the middle portion of the base along the width direction of the base.

[0009] Furthermore, the multiple first suction cups are divided into two symmetrically arranged groups, each group includes three first suction cups, and the three first suction cups in each group are arranged in a triangle; the multiple second suction cups are divided into two symmetrically arranged groups, each group includes three second suction cups, and the three second suction cups in each group are arranged in a triangle.

[0010] Furthermore, the second suction cup assembly also includes a suction cup bracket and a telescopic device, the plurality of second suction cups are fixed on the suction cup bracket, and the telescopic device is connected to the suction cup bracket and is used to drive the suction cup bracket to move up and down relative to the base.

[0011] Furthermore, a plurality of protruding rods are fixed on the suction cup bracket, the base has a top wall, a plurality of guide rods are fixed on the top wall, each guide rod is provided with a through hole along the axial direction, and each protruding rod is inserted into the through hole of a corresponding guide rod and can slide along the through hole.

[0012] Furthermore, the base has a bottom wall, the multiple first suction cups are fixed on the bottom wall, and the bottom wall is also provided with a through groove. The suction cup bracket can be retracted into the through groove under the drive of the telescopic device or retracted into the base after passing through the through groove.

[0013] Furthermore, the package grabbing device also includes a clamping device, which includes a first clamping jaw, a second clamping jaw, a first driving device and a second driving device, and the first driving device and the second driving device are respectively used to drive the first clamping jaw and the second clamping jaw to flip in opposite directions to clamp the sucked package.

[0014] Further, the base has a side wall, and the first clamping jaw and the second clamping jaw are symmetrically arranged on an outer surface of the side wall.

[0015] Furthermore, the clamping device also includes a first connecting rod and a second connecting rod, the number of the first clamping jaws and the number of the second clamping jaws are two, the two first clamping jaws are respectively fixed at both ends of the first connecting rod, and the two second clamping jaws are respectively fixed at both ends of the second connecting rod, the first driving device has a first driving gear, a first driven gear is fixed on the first connecting rod, and the first driving gear is meshed with the first driven gear, the second driving device has a second driving gear, a second driven gear is fixed on the second connecting rod, and the second driving gear is meshed with the second driven gear.

[0016] The present invention also provides a package grasping device, comprising a base and at least one suction cup assembly arranged at the bottom of the base, wherein the suction cup assembly is used to suck the package; the package grasping device also includes a clamping device, wherein the clamping device includes a first clamping jaw, a second clamping jaw, a first driving device and a second driving device, wherein the first driving device and the second driving device are respectively used to drive the first clamping jaw and the second clamping jaw to flip in opposite directions to clamp the sucked package.

[0017] Further, the at least one suction cup assembly includes a fixed first suction cup assembly, the first suction cup assembly includes a plurality of first suction cups, the base has a bottom wall, and the plurality of first suction cups are fixed on the bottom wall.

[0018] Furthermore, the at least one suction cup assembly includes a movable second suction cup assembly, the second suction cup assembly includes a plurality of second suction cups, and the second suction cup assembly can telescopically move up and down relative to the base.

[0019] Furthermore, the at least one suction cup assembly includes a fixed first suction cup assembly and a movable second suction cup assembly, the first suction cup assembly includes a plurality of first suction cups, the second suction cup assembly includes a plurality of second suction cups, and the second suction cup assembly can telescope up and down relative to the base; when the second suction cup assembly moves upward and retracts, the first suction cup assembly is in the lowest position and is used to suck up a first type of package; when the second suction cup assembly moves downward and extends, the second suction cup assembly is in the lowest position and is used to suck up a second type of package.

[0020] Furthermore, the first suction cup assembly is used to suck the paper box, and the second suction cup assembly is used to suck the soft bag.

[0021] Furthermore, the plurality of first suction cups are distributed at both ends of the base along the length direction of the base, and the plurality of second suction cups are distributed at the middle portion of the base along the width direction of the base.

[0022] Furthermore, the multiple first suction cups are divided into two symmetrically arranged groups, each group includes three first suction cups, and the three first suction cups in each group are arranged in a triangle; the multiple second suction cups are divided into two symmetrically arranged groups, each group includes three second suction cups, and the three second suction cups in each group are arranged in a triangle.

[0023] Furthermore, the second suction cup assembly includes a suction cup bracket and a telescopic device, the plurality of second suction cups are fixed on the suction cup bracket, and the telescopic device is connected to the suction cup bracket and is used to drive the suction cup bracket to move up and down relative to the base.

[0024] Furthermore, the base has a bottom wall, and a through slot is provided on the bottom wall. The suction cup bracket can be retracted into the through slot under the drive of the telescopic device, or can pass through the through slot and then retract into the base.

[0025] Further, the base has a side wall, and the first clamping jaw and the second clamping jaw are symmetrically arranged on an outer surface of the side wall.

[0026] Furthermore, the clamping device also includes a first connecting rod and a second connecting rod, the number of the first clamping jaws and the number of the second clamping jaws are two, the two first clamping jaws are respectively fixed at both ends of the first connecting rod, and the two second clamping jaws are respectively fixed at both ends of the second connecting rod, the first driving device has a first driving gear, a first driven gear is fixed on the first connecting rod, and the first driving gear is meshed with the first driven gear, the second driving device has a second driving gear, a second driven gear is fixed on the second connecting rod, and the second driving gear is meshed with the second driven gear.

[0027] The package grabbing device provided by the present invention is provided with a first suction cup assembly and a second suction cup assembly at the bottom of the base, wherein the first suction cup assembly is fixed at the bottom of the base, and the second suction cup assembly can telescopically move up and down relative to the base, and the two different suction cup assemblies are respectively used to suck different types of packages; or at least one suction cup assembly is provided at the bottom of the base for sucking packages, and a clamping device is used to clamp the packages at the same time, so that the package grabbing device can suck different types of packages and is not easy to drop. The package grabbing device provided by the present invention improves the compatibility with different types of packages, so that the packages do not need to be manually sorted during sorting, thereby improving the sorting and transfer efficiency of the packages and saving labor costs. At the same time, it can reduce the damage to the suction cup and the package caused by the mismatch between the suction cup type and the packaging type of the package, avoid deformation or rupture of the package, and extend the service life of the suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the front three-dimensional structure of the package grabbing device in an embodiment of the present invention.

[0029] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure viewed from above.

[0030] Figure 3 This is a front view of the package grabbing device in the embodiment of the present invention when the second suction cup assembly has not yet extended downward.

[0031] Figure 4 This is a front view of the package grabbing device in the embodiment of the present invention after the second suction cup assembly extends downward.

[0032] Figure 5 for Figure 1 Bottom view of .

[0033] Figure 6 for Figure 1 Schematic diagram of the explosion structure.

[0034] Figure 7 for Figure 6 Bottom view of .

[0035] Figure 8 for Figure 6 Top view of the .

[0036] Fig. 9 The figure is a schematic diagram of the structure of the package grabbing device in the embodiment of the present invention when grabbing a small package.

[0037] Fig.10 The figure is a schematic diagram of the structure of the package grabbing device in the embodiment of the present invention when grabbing a large package.

[0038] Fig.11aSchematic diagram of the effective adsorption area when one set of second suction cups is enabled in an embodiment of the present invention.

[0039] Fig.11b Schematic diagram of the effective adsorption area when two groups of second suction cups are enabled together in an embodiment of the present invention.

[0040] Fig.11c Schematic diagram of the effective adsorption area of ​​one group of first suction cups when enabled in an embodiment of the present invention.

[0041] Fig.11d Schematic diagram of the effective adsorption area when two groups of first suction cups are enabled together in an embodiment of the present invention.

[0042] Fig.12 Schematic diagram of the structure of the first clamping jaw / the second clamping jaw in another embodiment of the present invention.

[0043] Fig.13 Schematic diagram of the structure of the first clamping jaw / the second clamping jaw in another embodiment of the present invention. DETAILED DESCRIPTION

[0044] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0045] The terms "first", "second", "third", "fourth" and the like (if any) in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a particular sequence or order.

[0046] The directional words such as up, down, left, right, front, back, top, bottom, etc. (if any) involved in the specification and claims of the present invention are defined by the positions of the structures in the drawings and the positions of the structures relative to each other, and are only for the clarity and convenience of expressing the technical solution. It should be understood that the use of directional words should not limit the scope of protection claimed in this application.

[0047] like Figures 1 to 8 As shown, the package grabbing device provided by the embodiment of the present invention comprises a hollow base 1 and a combined suction cup 2 arranged at the bottom of the base 1. The base 1 comprises a bottom wall 11, a top wall 12, and a side wall 13 connected between the bottom wall 11 and the top wall 12, wherein the bottom wall 11 and the top wall 12 are arranged opposite to each other, the top end of the top wall 12 and the side wall 13 are connected by interference fit, and the bottom end of the bottom wall 11 and the side wall 13 are connected by interference fit. A plurality of support rods 232 are arranged in the base 1, and the support rods 232 extend in the up-down direction, the top end of the support rods 232 is fixedly connected to the top wall 12, and the bottom end of the support rods 232 is fixedly connected to the bottom wall 11, so as to ensure the stability of the base 1.

[0048] Furthermore, the combined suction cup 2 includes a fixed first suction cup assembly 21 and a movable second suction cup assembly 22, and the first suction cup assembly 21 and the second suction cup assembly 22 are used to suck up the package. The first suction cup assembly 21 includes a plurality of first suction cups 211, and the second suction cup assembly 22 includes a plurality of second suction cups 221. The second suction cup assembly 22 can move up and down relative to the base 1. When the second suction cup assembly 22 moves upward and retracts, the first suction cup assembly 21 is at the lowest position and is used to suck up the first type of package; when the second suction cup assembly 22 moves downward and extends, the second suction cup assembly 22 is at the lowest position and is used to suck up the second type of package.

[0049] In the present embodiment, the package grabbing device is only provided with two types of suction cups, namely the first suction cup 211 and the second suction cup 221. Of course, in other embodiments, more types of suction cups may be provided, which is not limited here.

[0050] Specifically, the plurality of first suction cups 211 are fixed on the bottom wall 11 , and the plurality of first suction cups 211 extend downwardly from the lower surface of the bottom wall 11 .

[0051] Furthermore, the second suction cup assembly 22 also includes a suction cup bracket 23 and a telescopic device 24, a plurality of second suction cups 221 are fixed on the suction cup bracket 23, and the telescopic device 24 is connected to the suction cup bracket 23 and is used to drive the suction cup bracket 23 to move up and down relative to the base 1.

[0052] Specifically, in this embodiment, the telescopic device 24 is located in the base 1 and the top of the telescopic device 24 is fixedly connected to the top wall 12. The telescopic device 24 has a driving rod 241 that can be telescoped up and down, and the driving rod 241 extends downward from the bottom of the telescopic device 24. The suction cup bracket 23 is correspondingly located below the telescopic device 24, the bottom end of the driving rod 241 is fixedly connected to the upper surface of the suction cup bracket 23, and a plurality of second suction cups 221 are arranged on the lower surface of the suction cup bracket 23, and a plurality of second suction cups 221 extend downward from the lower surface of the suction cup bracket 23. The telescopic device 24 can be a mechanism that can realize telescopic movement, such as a cylinder, a motor, an oil cylinder, a gear rack, a nut screw, etc., which is not limited here.

[0053] Furthermore, in this embodiment, a through slot 111 is further provided on the bottom wall 11, and the through slot 111 corresponds to the suction cup bracket 23, and the through slot 111 and the suction cup bracket 23 match in shape and size, and the suction cup bracket 23 can be retracted into the through slot 111 or retracted into the base 1 after passing through the through slot 111 under the drive of the telescopic device 24. In this embodiment, the through slot 111 and the suction cup bracket 23 are both in the shape of an "I" character, but are not limited thereto.

[0054] Furthermore, if Figure 5As shown, in this embodiment, the base 1 is a square structure, and the base 1 has a length direction L and a width direction W. A plurality of first suction cups 211 are distributed along the length direction L of the base 1 at both ends of the base 1, and a plurality of second suction cups 221 are distributed along the width direction W of the base 1 at the middle position of the base 1.

[0055] In this embodiment, the first suction cup assembly 21 is used to suck the paper box, and the second suction cup assembly 22 is used to suck the soft bag, that is, the first suction cup 211 is a paper box suction cup, and the second suction cup 221 is a soft bag suction cup. Specifically, in this embodiment, the soft bag suction cup and the paper box suction cup are both lip suction cups, and of course, they can also be suction tools such as sponge suction cups. The soft bag suction cup is suitable for sucking flexible packaging packages such as soft bags, and the paper box suction cup is suitable for sucking rigid packaging packages such as paper boxes. The difference between the soft bag suction cup and the paper box suction cup is: 1. The standard suction force of the two is different. The suction force of the paper box suction cup is greater than that of the soft bag suction cup, so the paper box suction cup can better suck the paper box package; 2. The structures of the two are different. The lip of the soft bag suction cup is thinner than that of the paper box suction cup, so the soft bag suction cup can better suck the soft bag package, but the soft bag suction cup is more easily damaged than the paper box suction cup.

[0056] Further, in this embodiment, the plurality of first suction cups 211 are divided into two symmetrically arranged groups, each group includes three first suction cups 211, and the three first suction cups 211 in each group are arranged in a triangle. The plurality of second suction cups 221 are divided into two symmetrically arranged groups, each group includes three second suction cups 221, and the three second suction cups 221 in each group are arranged in a triangle.

[0057] When sucking and sorting the parcels, the second suction cup assembly 22 can be raised and lowered according to the packaging type of the parcels, so as to achieve the purpose of sucking different types of parcels. Figure 3 As shown, when it is detected that the package is a paper box, the second suction cup assembly 22 remains in a retracted state and does not extend downward, the height of the first suction cup assembly 21 is lower than the height of the second suction cup assembly 22, and the multiple first suction cups 211 are enabled together (that is, the multiple first suction cups 211 are in a working state and have suction force), which can be used to suck the paper box package; Figure 4 As shown, when it is detected that the package is a soft bag, the second suction cup assembly 22 extends downward, so that the height of the second suction cup assembly 22 is lower than the height of the first suction cup assembly 21, and the plurality of second suction cups 221 are enabled together to absorb the soft bag package. Therefore, the package grabbing device can reduce the damage to the suction cup and the package caused by the mismatch between the suction cup type and the package type, avoid deformation or rupture of the package, and at the same time extend the service life of the suction cup.

[0058] Furthermore, if Figures 6 to 8As shown, a plurality of protruding rods 231 are fixed to the suction cup bracket 23, and the protruding rods 231 extend upward from the upper surface of the suction cup bracket 23. A plurality of guide rods 121 are fixed to the top wall 12, and the guide rods 121 extend downward from the lower surface of the top wall 12. Each guide rod 121 is provided with a through hole 122 along the axial direction, and each protruding rod 231 is inserted into a through hole 122 of a corresponding guide rod 121 and can slide along the through hole 122. Through the cooperation between the protruding rods 231 and the guide rods 121, the movement of the suction cup bracket 23 can be guided to prevent the suction cup bracket 23 from deflecting when moving up and down.

[0059] Furthermore, the package grabbing device also includes a clamping device 3, which includes a first clamping jaw 31, a second clamping jaw 32, a first driving device 35 and a second driving device 36. The first driving device 35 and the second driving device 36 are respectively used to drive the first clamping jaw 31 and the second clamping jaw 32 to flip in opposite directions to clamp the sucked package.

[0060] Specifically, the first clamping jaw 31 and the second clamping jaw 32 each include a root 311 / 321 and a clamping portion 312 / 322. The root 311 of the first clamping jaw 31 and the root 312 of the second clamping jaw 32 are arranged at intervals. The clamping portion 312 of the first clamping jaw 31 can rotate around the root 311 of the first clamping jaw 31, and the clamping portion 322 of the second clamping jaw 32 can rotate around the root 321 of the second clamping jaw 32. The clamping device 3 is used to clamp the package after the suction cup sucks the package to prevent the package (especially a heavier package) from falling during high-speed transfer, and at the same time, it can reduce the burden of the suction cup to extend the service life of the suction cup.

[0061] Further, the first clamping jaw 31 and the second clamping jaw 32 are symmetrically arranged on the outer surface of the side wall 13. Specifically, in the present embodiment, the first clamping jaw 31 and the second clamping jaw 32 are located on the same side of the base 1 along the width direction W, and the root 311 of the first clamping jaw 31 and the root 321 of the second clamping jaw 32 are respectively located at the two ends of the side wall 13 along the length direction L of the base 1 (from the figure, the root 311 of the first clamping jaw 31 is located at the left end of the side wall 13, and the root 321 of the second clamping jaw 32 is located at the right end of the side wall 13). The first clamping jaw 31 and the second clamping jaw 32 are both in contact with the side wall 13, and the clamping portion 312 of the first clamping jaw 31 can overlap with the clamping portion 322 of the second clamping jaw 32. When the clamping device 3 is clamping the package, the first clamping jaw 31 rotates in the counterclockwise direction, and the second clamping jaw 32 rotates in the clockwise direction (wherein the rotation directions of the first clamping jaw 31 and the second clamping jaw 32 are described based on the drawings), and the rotation plane of the first clamping jaw 31 and the rotation plane of the second clamping jaw 32 are both parallel to the side wall 13. Of course, in other embodiments, the first clamping jaw 31 and the second clamping jaw 32 can also be set at other positions of the side wall 13, which is not limited here.

[0062] Furthermore, the clamping device 3 also includes a first connecting rod 33 and a second connecting rod 34, both of which are located in the base 1, and both of which are extended along the width direction W of the base 1. There are two first clamps 31 and two second clamps 32, and the two first clamps 31 are respectively fixed at both ends of the first connecting rod 33, and the two second clamps 32 are respectively fixed at both ends of the second connecting rod 34. The first driving device 35 has a first driving gear 351, and a first driven gear 331 is fixed on the first connecting rod 33, and the first driving gear 351 is meshed with the first driven gear 331. The second driving device 36 has a second driving gear 361, and a second driven gear 341 is fixed on the second connecting rod 34, and the second driving gear 361 is meshed with the second driven gear 341.

[0063] Preferably, the first drive device 35 and the second drive device 36 are both motors, and the driving gear 351 / 361 is fixed on the output shaft of the motor. In addition, a reduction gear can be provided between the driving gear 351 / 361 and the driven gear 331 / 341 as needed. Of course, the first drive device 35 and the second drive device 36 can also be cylinders, etc., which are not limited here.

[0064] Furthermore, the clamping portion 312 of the first clamping jaw 31 is bent and extended toward the rotation direction of the first clamping jaw 31 at one end away from the root 311 of the first clamping jaw 31, and the clamping portion 322 of the second clamping jaw 32 is bent and extended toward the rotation direction of the second clamping jaw 32 at one end away from the root 321 of the second clamping jaw 32, so that the first clamping jaw 31 and the second clamping jaw 32 are both L-shaped structures.

[0065] like Fig. 9 and Fig.10 As shown, after the first suction cup assembly 21 or the second suction cup assembly 22 sucks the package, the first clamping jaw 31 and the second clamping jaw 32 rotate to both sides (the first clamping jaw 31 rotates in the counterclockwise direction, and the second clamping jaw 32 rotates in the clockwise direction) until the package is clamped. By designing the first clamping jaw 31 and the second clamping jaw 32 into an L-shaped structure, it can adapt to packages of different sizes, thereby improving the compatibility of the clamping device 3, so that the clamping device 3 can be used to clamp both small packages 51 and large packages 52 ( Fig. 9 The dotted box in the figure indicates a small package 51. Fig.10 The dotted box in the figure indicates a large package 52).

[0066] In this embodiment, the clamping portion 312 / 322 has a structure with a gradually decreasing diameter in a direction away from the root portion 311 / 321. Fig.12 As shown, in other embodiments, the width of the entire clamping portion 312 / 322 may be the same, and the bending angle of the clamping portion 312 / 322 may be larger. Fig.13 As shown, in another embodiment, the clamping portion 312 / 322 is further provided with a round clamping ball 300 at the end away from the root 311 / 321 to better clamp the package. Of course, the clamping claw 31 / 32 can also be other structures, which are not limited here.

[0067] Furthermore, a limit pin 38 is provided below the first clamping jaw 31 and the second clamping jaw 32, and the limit pin 38 extends outward from the outer surface of the side wall 13. In this embodiment, the limit pin 38 is extended along the width direction W of the base 1, one end of the limit pin 38 is located in the base 1 and is fixedly connected to the upper surface of the bottom wall 11, and the other end of the limit pin 38 passes through the side wall 13 and extends outward. The limit pin 38 is used to limit the starting position of the first clamping jaw 31 and the second clamping jaw 32, and at the same time, the first clamping jaw 31 and the second clamping jaw 32 cannot rotate 360 ​​degrees, so as to ensure the normal working order of the first clamping jaw 31 and the second clamping jaw 32.

[0068] Furthermore, a connecting flange 4 is fixed to the upper surface of the top wall 12, and the connecting flange 4 is used to connect the package grabbing device to a robot arm or other equipment.

[0069] Furthermore, two through holes 123 are provided on the top wall 12 , and external air pipes, cables and other components can pass through the through holes 123 and be connected to the combined suction cup 2 and the clamping device 3 .

[0070] The following example illustrates the working method of the package grabbing device of this embodiment:

[0071] 1. If Fig.11a As shown, when the package grabbing device is in the soft bag mode, if the size of the soft bag is small, one group of the second suction cups 221 can be enabled, that is, the three second suction cups 221 in the dotted box in the figure are enabled, and the other suction cups are not working. At this time, the effective suction area of ​​the package grabbing device is 240mm*150mm, and can bear a weight of 3.5kg;

[0072] 2. If Fig.11b As shown, when the package grabbing device is in the soft bag mode, if the size of the soft bag is large, two groups of second suction cups 221 can be enabled at the same time, that is, the six second suction cups 221 in the dotted box in the figure are enabled, and the other suction cups are not working. At this time, the size of the effective suction area of ​​the package grabbing device is 240mm*330mm, and can bear 7.0kg;

[0073] 3. If Fig.11cAs shown, when the package grabbing device is in the carton mode, if the size of the carton package is small, one group of the first suction cups 211 can be selected to be enabled, that is, the three first suction cups 211 in the dotted box in the figure are enabled, and the other suction cups are not working. At this time, the effective suction area of ​​the package grabbing device is 240mm*160mm, and can bear a weight of 5.7kg;

[0074] 4. If Fig.11d As shown, when the package grabbing device is in the carton mode, if the size of the carton package is large, two groups of first suction cups 211 can be enabled at the same time, that is, the six first suction cups 211 in the dotted box in the figure are enabled, and the other suction cups are not working. At this time, the effective suction area of ​​the package grabbing device is 240mm*370mm, and can bear 11.4kg. Of course, the package grabbing device can also be in other working modes, which are not limited here.

[0075] The package grabbing device provided in the embodiment of the present invention comprises a combined suction cup 2, namely a first suction cup assembly 21 and a second suction cup assembly 22, arranged at the bottom of the base 1. The first suction cup assembly 21 is fixed at the bottom of the base 1, and the second suction cup assembly 22 can telescope up and down relative to the base 1. The two different suction cup assemblies are respectively used to absorb different types of packages. The corresponding suction cup assembly is selected to perform the absorption work according to the type of the package. Therefore, the damage to the suction cup and the package caused by the mismatch between the suction cup type and the packaging type of the package can be reduced, deformation or rupture of the package can be avoided, and the service life of the suction cup can be extended.

[0076] It should be noted that the package grasping device having both a combined suction cup 2 (i.e., a first suction cup assembly 21 and a second suction cup assembly 22) and a clamping device 3 is a complete form of this embodiment, but a single suction cup assembly or a plurality of suction cup assemblies in conjunction with a clamping device 3 also has the effect of improving the compatibility of the package grasping device and extending the service life of the suction cup. By providing at least one suction cup assembly 21 / 22 at the bottom of the base 1 for sucking up the package, and cooperating with the clamping device 3 for clamping the package, the package grasping device can absorb different types of packages without falling easily, which not only improves the compatibility of the package grasping device, but also reduces the burden of the suction cup assembly, thereby extending the service life of the suction cup. Therefore, the solution of a single suction cup assembly in conjunction with the clamping device 3 is also within the protection scope of the present invention.

[0077] The parcel grabbing device provided in the embodiment of the present invention improves the compatibility with different types of parcels, so that the parcels do not need to be manually sorted during sorting, thereby improving the sorting and transfer efficiency of the parcels and saving labor costs. It can also reduce the damage to the suction cup and the parcel caused by the mismatch between the suction cup type and the packaging type of the parcel, avoid deformation or rupture of the parcel, and extend the service life of the suction cup. At the same time, by providing a clamping device 3 for clamping the parcel, the parcel (especially the heavier parcel) is not easy to fall during the transportation process, reducing the risk of parcel damage.

[0078] The package grabbing device provided by the embodiment of the present invention not only has good compatibility, good suction and clamping effects, and high working efficiency, but also has a compact structure and a small size. At the same time, the suction cup has a long life, which can greatly reduce the maintenance cost of the equipment.

[0079] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A package grabbing device, characterized in that: The invention comprises a base (1) and a combined suction cup (2) arranged at the bottom of the base (1), wherein the combined suction cup (2) comprises a fixed first suction cup assembly (21) and a movable second suction cup assembly (22), wherein the first suction cup assembly (21) comprises a plurality of first suction cups (211), and the second suction cup assembly (22) comprises a plurality of second suction cups (221), and the second suction cup assembly (22) is capable of telescopic movement up and down relative to the base (1); when the second suction cup assembly (22) moves upward and retracts, the first suction cup assembly (21) is in the lowest position and is used to absorb a first type of package; when the second suction cup assembly (22) moves downward and extends, the second suction cup assembly (22) is in the lowest position and is used to absorb a second type of package; The second suction cup assembly (22) further comprises a suction cup bracket (23) and a telescopic device (24); the plurality of second suction cups (221) are fixed on the suction cup bracket (23); the telescopic device (24) is connected to the suction cup bracket (23) and is used to drive the suction cup bracket (23) to move up and down relative to the base (1); the telescopic device (24) is located in the base (1); the telescopic device (24) has a driving rod (241) that can be telescopically moved up and down; the driving rod (241) extends downward from the bottom end of the telescopic device (24); the suction cup bracket (23) is correspondingly located below the telescopic device (24); the bottom end of the driving rod (241) is fixedly connected to the upper surface of the suction cup bracket (23); the plurality of second suction cups (221) are arranged on the lower surface of the suction cup bracket (23); and the plurality of second suction cups (221) extend downward from the lower surface of the suction cup bracket (23).

2. The package grabbing device according to claim 1, characterized in that: The first suction cup assembly (21) is used for sucking the paper box, and the second suction cup assembly (22) is used for sucking the soft bag.

3. The package grabbing device according to claim 1, characterized in that: The plurality of first suction cups (211) are distributed at both ends of the base (1) along the length direction (L) of the base (1), and the plurality of second suction cups (221) are distributed at the middle of the base (1) along the width direction (W) of the base (1).

4. The package grabbing device according to claim 1, characterized in that: The plurality of first suction cups (211) are divided into two symmetrically arranged groups, each group comprising three first suction cups (211), and the three first suction cups (211) in each group are arranged in a triangle; the plurality of second suction cups (221) are divided into two symmetrically arranged groups, each group comprising three second suction cups (221), and the three second suction cups (221) in each group are arranged in a triangle.

5. The package grabbing device according to claim 1, characterized in that: A plurality of protruding rods (231) are fixed on the suction cup bracket (23); the base (1) has a top wall (12); a plurality of guide rods (121) are fixed on the top wall (12); each guide rod (121) is provided with a through hole (122) along the axial direction; each protruding rod (231) is inserted into the through hole (122) of a corresponding guide rod (121) and can slide along the through hole (122).

6. The package grabbing device according to claim 1, characterized in that: The base (1) has a bottom wall (11), the plurality of first suction cups (211) are fixed on the bottom wall (11), a through slot (111) is also provided on the bottom wall (11), and the suction cup bracket (23) can be retracted into the through slot (111) or can pass through the through slot (111) and then retract into the base (1) under the drive of the telescopic device (24).

7. The package grabbing device according to claim 1, characterized in that: The package grabbing device also includes a clamping device (3), the clamping device (3) includes a first clamping jaw (31), a second clamping jaw (32), a first driving device (35) and a second driving device (36), the first driving device (35) and the second driving device (36) being respectively used to drive the first clamping jaw (31) and the second clamping jaw (32) to flip in opposite directions to clamp the sucked package.

8. The package grabbing device according to claim 7, characterized in that: The base (1) has a side wall (13), and the first clamping jaw (31) and the second clamping jaw (32) are symmetrically arranged on the outer surface of the side wall (13).

9. The package grabbing device according to claim 7, characterized in that: The clamping device (3) further comprises a first connecting rod (33) and a second connecting rod (34); the number of the first clamping jaws (31) and the number of the second clamping jaws (32) are two, the two first clamping jaws (31) are respectively fixed at two ends of the first connecting rod (33), and the two second clamping jaws (32) are respectively fixed at two ends of the second connecting rod (34); the first driving device (35) comprises a first driving gear (351), a first driven gear (331) is fixed on the first connecting rod (33), and the first driving gear (351) is meshed with the first driven gear (331); the second driving device (36) comprises a second driving gear (361), a second driven gear (341) is fixed on the second connecting rod (34), and the second driving gear (361) is meshed with the second driven gear (341).

10. A package grabbing device, characterized in that: The package grabbing device comprises a base (1) and at least one suction cup assembly (21 / 22) arranged at the bottom of the base (1), wherein the suction cup assembly (21 / 22) is used to suck a package; the package grabbing device also comprises a clamping device (3), wherein the clamping device (3) comprises a first clamping jaw (31), a second clamping jaw (32), a first driving device (35) and a second driving device (36), wherein the first driving device (35) and the second driving device (36) are respectively used to drive the first clamping jaw (31) and the second clamping jaw (32) to flip in opposite directions so as to clamp the package sucked by the suction cup assembly (21 / 22); At least one of the suction cup assemblies (21 / 22) comprises a fixed first suction cup assembly (21) and a movable second suction cup assembly (22), wherein the first suction cup assembly (21) comprises a plurality of first suction cups (211), and the second suction cup assembly (22) comprises a plurality of second suction cups (221), and the second suction cup assembly (22) is capable of telescopic movement up and down relative to the base (1); when the second suction cup assembly (22) moves upward and retracts, the first suction cup assembly (21) is at the lowest position and is used to absorb a first type of package; when the second suction cup assembly (22) moves downward and extends, the second suction cup assembly (22) is at the lowest position and is used to absorb a second type of package; The second suction cup assembly (22) comprises a suction cup bracket (23) and a telescopic device (24), the plurality of second suction cups (221) are fixed on the suction cup bracket (23), and the telescopic device (24) is connected to the suction cup bracket (23) and is used to drive the suction cup bracket (23) to move up and down relative to the base (1); The clamping device (3) further comprises a first connecting rod (33) and a second connecting rod (34); the number of the first clamping jaws (31) and the number of the second clamping jaws (32) are two, the two first clamping jaws (31) are respectively fixed at two ends of the first connecting rod (33), and the two second clamping jaws (32) are respectively fixed at two ends of the second connecting rod (34); the first driving device (35) comprises a first driving gear (351), a first driven gear (331) is fixed on the first connecting rod (33), and the first driving gear (351) is meshed with the first driven gear (331); the second driving device (36) comprises a second driving gear (361), a second driven gear (341) is fixed on the second connecting rod (34), and the second driving gear (361) is meshed with the second driven gear (341).

11. The package grabbing device according to claim 10, characterized in that: The first suction cup assembly (21) is used for sucking the paper box, and the second suction cup assembly (22) is used for sucking the soft bag.

12. The package grabbing device according to claim 10, characterized in that: The plurality of first suction cups (211) are distributed at both ends of the base (1) along the length direction (L) of the base (1), and the plurality of second suction cups (221) are distributed at the middle of the base (1) along the width direction (W) of the base (1).

13. The package grabbing device according to claim 10, characterized in that: The plurality of first suction cups (211) are divided into two symmetrically arranged groups, each group comprising three first suction cups (211), and the three first suction cups (211) in each group are arranged in a triangle; the plurality of second suction cups (221) are divided into two symmetrically arranged groups, each group comprising three second suction cups (221), and the three second suction cups (221) in each group are arranged in a triangle.

14. The package grabbing device according to claim 10, characterized in that: The base (1) has a bottom wall (11), and a through slot (111) is provided on the bottom wall (11). The suction cup bracket (23) can be retracted into the through slot (111) or can pass through the through slot (111) and then retract into the base (1) under the drive of the telescopic device (24).

15. The package grabbing device according to claim 10, characterized in that: The base (1) has a side wall (13), and the first clamping jaw (31) and the second clamping jaw (32) are symmetrically arranged on the outer surface of the side wall (13).

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