Composite suction holding device and picking robot having the same

Abstract

The present invention discloses a composite suction holding device and a picking robot having the same, comprising: a main body, first and second suction cups and a pressure detection component. The first and second airflow channels are defined in the main body, the first airflow channel has a first quick-pass inlet and a first outlet, and the second airflow channel has a second quick-pass inlet and a second outlet. The first suction cup is arranged on the main body, one end of the first suction cup constitutes the first suction port end and the other end is connected to the first airflow channel. At least part of the second suction cup is arranged in the first suction cup, one end of the second suction cup constitutes the second suction port end and the other end is connected to the second airflow channel, and the first and second suction port ends are located at the same end of the first suction cup. The first and second quick-pass inlets are used to spray airflow to the first and second outlets, respectively. The pressure detection component is used to detect the air pressure value of one of the first and second vacuum generators and control the start and stop of the other. According to the composite suction holding device of the present invention, the suction efficiency can be improved, the gas consumption can be saved, and the occupied space can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of adsorption devices, and in particular to a composite adsorption device and a picking robot having the same. Background Art

[0002] In the related technology, there is a type of vacuum generator that can create a good negative pressure. When used with a suction cup, it can better suck up materials with a flat surface and consumes very little gas. However, this type of suction cup has difficulty sucking up materials when it is not tightly attached to the material and there is serious air leakage. Another type of large-flow vacuum generator, this type of vacuum generator is more suitable for sucking up materials with uneven surfaces when used with a suction cup. When the suction cup and the material are not tightly attached and there is serious air leakage, it also generates a certain negative pressure and sucks up materials of a certain weight, but this type of suction cup consumes a lot of gas.

[0003] When the surface flatness of the material is inconsistent, the first type of suction cup cannot suck up all the materials, and the second type of suction cup consumes a lot of air. If two types of suction cups are used on the same device at the same time, and two sets of vacuum generation systems are used to target materials with different characteristics, not only will it take up too much space, but the two suction cups will have to consider how to bypass each other when sucking the materials, which will take up more time. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a composite suction device to expand the scope of application, improve suction efficiency, save gas, and reduce occupied space.

[0005] The present invention also aims to provide a picking robot having the above-mentioned composite suction and holding device.

[0006] The composite suction holding device according to an embodiment of the present invention comprises: a body, wherein a first airflow channel and a second airflow channel are defined in the body, wherein the first airflow channel has a first quick-pass inlet and a first outlet, and wherein the second airflow channel has a second quick-pass inlet and a second outlet; a first suction cup, wherein the first suction cup is arranged on the body, wherein one end of the first suction cup constitutes a first suction port end and the other end is connected to the first airflow channel; and a second suction cup, wherein at least a portion of the second suction cup is arranged in the first suction cup, wherein one end of the second suction cup constitutes a second suction port end and the other end is connected to the second airflow channel, and wherein the second suction port end and the first suction port end are located at the first suction cup. the same end; wherein the first quick-pass inlet is used to spray airflow to the first outlet so that the first airflow channel constitutes a first vacuum generator and a negative pressure area is formed at the first suction port end; the second quick-pass inlet is used to spray airflow to the second outlet so that the second airflow channel constitutes a second vacuum generator and a negative pressure area is formed at the second suction port end; in addition, the composite suction holding device also includes a pressure detection component, which is used to detect the air pressure value of one of the first vacuum generator and the second vacuum generator, and the pressure detection component is used to control the start and stop of the other of the first vacuum generator and the second vacuum generator.

[0007] The composite suction device according to the embodiment of the present invention has a wide range of applications by providing a form in which two types of vacuum generators cooperate to work. When sucking materials with different characteristics, the matching vacuum generator can be intelligently turned on to work, thereby saving gas consumption. At least a portion of the second suction cup is disposed in the first suction cup, and the composite suction device is integrated, which can effectively reduce the space occupied by the composite suction device. Moreover, when the characteristics of the target material change and the vacuum generator needs to be replaced, since the suction positions of the two suction cups are basically the same, there is no need to significantly change the position of the suction cup. Moreover, when the suction cup adjusts its position, there is no need to consider the situation where one suction cup bypasses another suction cup, thereby reducing the adjustment time and improving the suction efficiency.

[0008] In some embodiments, when the pressure detection component is used to detect the first vacuum generator, the sensing end of the pressure detection component is located in the first airflow channel or in the first suction cup; when the pressure detection component is used to detect the second vacuum generator, the sensing end of the pressure detection component is located in the second airflow channel or in the second suction cup.

[0009] In some embodiments, the second air flow channel is located inside the first air flow channel, and the second outlet is connected to the first air flow channel so as to exhaust air through the first outlet.

[0010] In some embodiments, there are a plurality of second suction cups.

[0011] Specifically, the number of the first airflow channel is one, and the number of the second airflow channels is multiple, corresponding one-to-one to the second suction cups.

[0012] In some embodiments, the first suction cup and the second suction cup are both flexible tubes.

[0013] Specifically, when the first suction cup and the second suction cup are both in a naturally extended length, the second suction port end of the second suction cup is located outside the first suction cup.

[0014] In some optional embodiments, when the first suction cup and the second suction cup are each shortened to their shortest, the second suction port end of the second suction cup is located inside the first suction cup.

[0015] In some embodiments, the main body includes: a first shell portion, one end of the first shell portion is provided with the first outlet, and the first shell portion is provided with the first quick-pass inlet; an adapter ring, the adapter ring is connected to the other end of the first shell portion; a second shell portion, the second shell portion is connected to the adapter ring, the first suction cup is connected to the second shell portion, the first shell portion and the second shell portion define the first airflow channel, and the second shell portion is provided with the second quick-pass inlet; a third shell portion, the third shell portion is provided in the second shell portion, the second airflow channel is defined inside the third shell portion, and the second suction cup is connected to the third shell portion.

[0016] A picking robot according to an embodiment of the present invention comprises: a mechanical arm and the composite suction holding device according to the above embodiment of the present invention, wherein the composite suction holding device is arranged on the mechanical arm.

[0017] According to the picking robot of the embodiment of the present invention, a composite suction device is provided to provide a form of cooperation between two types of vacuum generators, so that the robot arm can pick up two types of materials with flat surfaces and uneven surfaces, while reducing gas consumption. For example, when the robot arm is performing a picking operation, at least one of the first vacuum generator and the second vacuum generator can be intelligently opened according to the surface characteristics of the material to suck up the material. In addition, at least part of the second suction cup is arranged in the first suction cup, so that the composite suction device is integrated, which can effectively reduce the occupied space of the composite picking robot.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0020] Figure 1 Schematic diagram of the structure of the composite suction device in an embodiment of the present invention (wherein the arrow shows the flow direction of the airflow);

[0021] Figure 2 Schematic diagram of the structure of the composite suction device in an embodiment of the present invention (wherein, the second vacuum generator is started, and the second suction cup will suck the material with a flat surface);

[0022] Figure 3 Schematic diagram of the structure of the composite suction device in an embodiment of the present invention (wherein, the first vacuum generator is started, and the first suction cup will suck the material with an uneven surface);

[0023] Figure 4 is a three-dimensional diagram of a composite suction holding device in an embodiment of the present invention (wherein the composite suction holding device is cut along the axis to show the internal matching relationship);

[0024] Figure 5 Schematic diagram of an application scenario of a picking robot in an embodiment of the present invention (wherein the picking robot can pick up materials with smooth surfaces as well as materials with uneven surfaces).

[0025] Reference numerals:

[0026] Picking robot 1000,

[0027] Composite suction and holding device 100,

[0028] Main body 1, first air flow channel 11, first quick-pass inlet 111, first outlet 112, second air flow channel 12, second quick-pass inlet 121, second outlet 122, first shell 13, adapter ring 14, second shell 15, third shell 16,

[0029] The first suction cup 2, the first suction port end 21,

[0030] The second suction cup 3, the second suction port end 31,

[0031] Pressure detection parts 4,

[0032] Mounting Seat 5,

[0033] Robotic arm 200. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0035] In the description of the present invention, it should be understood that the terms "upper", "lower", "inner", "outer", "center", "axial" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] Reference below Figure 1-Figure 4 A composite suction device 100 according to an embodiment of the present invention is described.

[0038] According to the composite suction holding device 100 of the embodiment of the present invention, Figure 1 and Figure 4 As shown, it includes: a body 1, a first suction cup 2 and a second suction cup 3. A first airflow channel 11 and a second airflow channel 12 are defined in the body 1. The first airflow channel 11 has a first quick-pass inlet 111 and a first outlet 112. The second airflow channel 12 has a second quick-pass inlet 121 and a second outlet 122. The first suction cup 2 is arranged on the body 1, one end of the first suction cup 2 constitutes a first suction port end 21 and the other end is connected to the first airflow channel 11. At least part of the second suction cup 3 is arranged inside the first suction cup 2, one end of the second suction cup 3 constitutes the second suction port end 31 and the other end is connected to the second air flow channel 12, the second suction port end 31 and the first suction port end 21 are located at the same end of the first suction cup 2; wherein the first quick-pass inlet 111 is used to spray airflow to the first outlet 112, so that the first air flow channel 11 constitutes a first vacuum generator, and the first suction port end 21 forms a negative pressure zone; the second quick-pass inlet 121 is used to spray airflow to the second outlet 122, so that the second air flow channel 12 constitutes a second vacuum generator, and the second suction port end 31 forms a negative pressure zone. In addition, the composite suction holding device 100 also includes a pressure detection component 4, the pressure detection component 4 is used to detect the air pressure value of one of the first vacuum generator and the second vacuum generator, and the pressure detection component 4 is used to control the start and stop of the other of the first vacuum generator and the second vacuum generator.

[0039] For the convenience of description, in order to better describe the composite suction holding device 100 in the embodiment of the present invention, the flow rate of the first quick-pass inlet 111 is set to be greater than the flow rate of the second quick-pass inlet 121. At this time, the pressure detection component 4 is used to detect the air pressure value of the second vacuum generator, and the pressure detection component 4 is used to control the start and stop of the first vacuum generator. In this way, in actual use, the two vacuum generators can be used according to different material characteristics, and the use method is also very flexible. Figure 2 As shown, when the composite suction device 100 sucks a material with a flat surface, the second quick-pass inlet 121 sprays airflow toward the second outlet 122, so that the second airflow channel 12 forms a second vacuum generator, which is equivalent to starting the second vacuum generator, so that the second suction port end 31 forms a negative pressure area, so that a high vacuum negative pressure can be established between the second suction cup 3 and the surface of the material, and the second suction cup 3 can suck up the material. Figure 3 As shown, when the composite suction device 100 sucks the material that is not flat, within half a minute to two minutes after the second vacuum generator is started, if the pressure detection component 4 detects that the air pressure value of the second vacuum generator is greater than the preset value, the pressure detection component 4 can control the first vacuum generator to start to hold the material. In this way, it is possible to intelligently select whether to turn on the first vacuum generator according to the flatness of the material surface. Here, when the first quick-pass inlet 111 sprays air flow to the first outlet 112, so that the first air flow channel 11 constitutes the first vacuum generator, it is equivalent to starting the first vacuum generator, so that the first suction port end 21 forms a negative pressure area. If the flow rate of the first quick-pass inlet 111 is large, at this time, even if the first suction cup 2 and the material surface are not tightly attached and there is air leakage, a certain negative pressure can be generated at the first suction cup 2, and a certain weight of material can be sucked up. .

[0040] At least part of the second suction cup 3 is disposed inside the first suction cup 2, so that the composite suction holding device 100 is highly integrated, which can effectively reduce the space occupied by the composite suction holding device 100. In addition, since the second suction cup 3 is located at the first suction cup 2, the suction cup does not need to be shifted when the vacuum generator is replaced, which is conducive to saving suction time and improving suction efficiency.

[0041] Of course, the flow rate of the first quick-pass inlet 111 can also be smaller than the flow rate of the second quick-pass inlet 121. At this time, the pressure detection component 4 is used to detect the air pressure value of the first vacuum generator, and the pressure detection component 4 is used to control the start and stop of the second vacuum generator. Intelligent material holding can also be achieved. The definitions here are all for a clearer description of the interaction between the components and are not intended to be specific limitations.

[0042] The composite suction device 100 according to the embodiment of the present invention has a wide range of applications by providing a form of cooperation between two types of vacuum generators. When sucking materials with different characteristics, the matching vacuum generator can be intelligently turned on to work, thereby saving gas consumption. At least a portion of the second suction cup 3 is arranged in the first suction cup 2, and the composite suction device 100 is integrated, which can effectively reduce the occupied space of the composite suction device 100. Moreover, when the characteristics of the target material change and the vacuum generator needs to be replaced, since the suction positions of the two suction cups are basically the same, there is no need to significantly change the position of the suction cup. Moreover, when the suction cup adjusts its position, there is no need to consider the situation where one suction cup bypasses another suction cup, so the adjustment time can be reduced and the suction efficiency can be improved.

[0043] In some embodiments, when the pressure detection member 4 is used to detect the first vacuum generator, the sensing end of the pressure detection member 4 is disposed in the first air flow channel 11 or in the first suction cup 2. Here, the sensing end of the pressure detection member 4 can be disposed in the first air flow channel 11 or in the first suction cup 2, thereby providing a more flexible and diverse configuration to adapt to different materials.

[0044] When the pressure detection member 4 is used to detect the second vacuum generator, the sensing end of the pressure detection member 4 is arranged in the second air flow channel 12 or in the second suction cup 3. Here, the sensing end of the pressure detection member 4 can be arranged in the second air flow channel 12 or in the second suction cup 3, thereby providing a more flexible and diverse configuration to adapt to different materials.

[0045] Optionally, the pressure detection element 4 may be a vacuum pressure sensor. Here, the flow rate of the second vacuum generator is smaller than the flow rate of the first vacuum generator. Figure 2 As shown, the second vacuum generator can establish a higher vacuum negative pressure when the second suction cup 3 fits the material well, and the material can be sucked up at this time. When the surface of the material is uneven and the second suction cup 3 does not fit the material well, the material cannot be sucked up. At this time, the negative pressure in the vacuum circuit is not well established, and the vacuum negative pressure is much lower than the level when the first suction cup 2 fits the material well. Figure 3 As shown, when the vacuum pressure sensor detects that the negative pressure is poorly established and exceeds the set threshold, the first vacuum generator is started, and the first suction cup 2 is used to absorb the material. In this way, the gas consumption can be reduced while ensuring that all the materials are sucked up.

[0046] In some embodiments, Figure 4As shown, the second airflow channel 12 is located inside the first airflow channel 11, and the second outlet 122 is connected to the first airflow channel 11, so as to exhaust air from the first outlet 112. Thus, the structure of the composite suction device 100 can be made more compact and the layout more reasonable, which is conducive to further improving the integration degree of the composite suction device 100 and reducing the occupied space of the composite suction device 100. In addition, this layout is also conducive to the flow of airflow, further improving the suction efficiency of materials.

[0047] In some embodiments, Figure 4 As shown, there are multiple second suction cups 3. It is understandable that arranging multiple second suction cups 3 can increase the probability of picking up uneven materials, such as increasing the probability of picking up the flat part of the surface of the uneven material, thereby improving the suction efficiency of the composite suction device 100 and reducing gas consumption.

[0048] Specifically, Figure 4 As shown, there is one first airflow channel 11, and there are multiple second airflow channels 12 corresponding to the second suction cups 3. This layout can further improve the integration of the composite suction device 100, is beneficial to the flow of airflow, and further improves the suction efficiency of the composite suction device 100.

[0049] In some embodiments, both the first suction cup 2 and the second suction cup 3 are flexible tubes, which can improve the adsorption reliability of the first suction cup 2 and the second suction cup 3 and reduce the mutual obstruction between the first suction cup 2 and the second suction cup 3.

[0050] Specifically, when the first suction cup 2 and the second suction cup 3 are both at a naturally extended length, the second suction port end 31 of the second suction cup 3 is located outside the first suction cup 2. In this way, the second suction cup 3 can fully contact the material, reducing the situation where the second suction cup 3 is blocked by the first suction cup 2.

[0051] In some optional embodiments, when the first suction cup 2 and the second suction cup 3 are shortened to their shortest, the second suction port end 31 of the second suction cup 3 is located inside the first suction cup 2. In this way, when the first vacuum generator is activated, the second suction cup 3 can be more easily retracted inwards, reducing the outward thrust of the second suction cup 3 pushing the material, so that the first suction cup 2 is in closer contact with the material and the adsorption is more secure.

[0052] In some embodiments, Figure 4As shown, the body 1 includes: a first shell 13, an adapter ring 14, a second shell 15 and a third shell 16. A first outlet 112 is provided at one end of the first shell 13, and a first quick-pass inlet 111 is provided on the first shell 13. The adapter ring 14 is connected to the other end of the first shell 13. The second shell 15 is connected to the adapter ring 14, and the first suction cup 2 is connected to the second shell 15. A first air flow channel 11 is defined in the second shell 15, and a second quick-pass inlet 121 is provided on the second shell 15. The third shell 16 is provided in the second shell 15, and a second air flow channel 12 is defined inside the third shell 16, and the second suction cup 3 is connected to the third shell 16. In this way, the structural strength of the composite suction holding device 100 can be improved, and it is also beneficial to further improve the degree of integration of the composite suction holding device 100 and reduce the occupied space of the composite suction holding device 100. In addition, the first shell 13 and the third shell 15 are not connected by a pipeline, which is conducive to the circulation of airflow, reduces the distance between the first shell and the first suction cup 2, and reduces the problem of reduced suction flow of the first suction cup 2 due to excessively long pipelines.

[0053] Optionally, the first shell portion 13 and the adapter ring 14 can be connected by screws, threads, interference fit, clamping, snap connection or adhesive bonding, and the sealing method can be elastic sealing gasket sealing, thread sealing, snap connection or packing sealing, etc. There is no limitation on the connection method and sealing method between the first shell portion 13 and the adapter ring 14.

[0054] Optionally, the adapter ring 14 and the second shell 15 can be connected by screw connection, thread connection, interference fit connection, clamp connection or adhesive sealing, etc. The sealing method can adopt elastic sealing gasket sealing, thread sealing, or packing sealing, etc. There is no limitation on the connection method and sealing method of the adapter ring 14 and the second shell 15.

[0055] Optionally, the second shell portion 15 and the first suction cup 2 may be connected by screws, snaps, or adhesive bonding, and the connection method between the second shell portion 15 and the first suction cup 2 is not limited herein.

[0056] Optionally, the second suction cup 3 and the third shell portion 16 may be connected by screws, snaps or adhesives, and the connection method between the second suction cup 3 and the third shell is not limited herein.

[0057] Optionally, the third shell portion 16 and the second shell portion 15 may be connected by interference fit, threaded connection, snap connection or adhesive bonding, and the connection method between the third shell portion 16 and the second shell portion 15 is not limited herein.

[0058] Of course, in some other embodiments, the first shell portion 13 , the adapter ring 14 , the second shell portion 15 , and the third shell portion 16 may also be integrally formed, and the specific form of the main body 1 is not limited here.

[0059] Optionally, a first quick-release connector may be connected to the first quick-release inlet 111 , a second quick-release connector may be connected to the second quick-release inlet 121 , the first quick-release connector and the first shell 13 may be threadedly connected, and the second quick-release connector and the third shell 16 may be threadedly connected.

[0060] Optionally, the second quick-release connector and the third housing 16 and the pressure detection component 4 may be connected via an air pipe.

[0061] Optional, such as Figure 4 As shown, the composite suction device 100 further includes a mounting seat 5, which can be arranged on the first shell 13, and the mounting seat 5 can be connected to other external parts, such as being suitable for a mechanical arm, and improving the installation stability of the composite suction device 100. Here, the mounting seat 5 and the first shell 13 can be connected by screws. Of course, in some other embodiments, the mounting seat 5 and the first shell 13 can be connected by welding, plugging, etc., or the mounting seat 5 and the first shell 13 can be integrally formed. The specific arrangement between the mounting seat 5 and the first shell 13 is not limited here.

[0062] Reference below Figure 4 A composite suction holding device 100 according to a specific embodiment of the present invention is described.

[0063] The composite suction device 100 according to the embodiment of the present invention comprises: a body 1 , a first suction cup 2 , a second suction cup 3 and a pressure detection member 4 .

[0064] The body 1 includes a first shell 13, an adapter ring 14, a second shell 15 and a third shell 16. A first outlet 112 is provided at one end of the first shell 13, and a first quick-pass inlet 111 is provided on the first shell 13. The adapter ring 14 is connected to the other end of the first shell 13. The second shell 15 is connected to the adapter ring 14, and the first suction cup 2 is connected to the second shell 15. A first airflow channel 11 is defined in the second shell 15, and a second quick-pass inlet 121 is provided on the second shell 15. The third shell 16 is provided in the second shell 15, and a second airflow channel 12 is defined inside the third shell 16.

[0065] One end of the first suction cup 2 forms a first suction port end 21 and the other end is connected to the second shell.

[0066] One end of the second suction cup 3 forms a second suction port end 31 and the other end is connected to the third shell portion 16. There are multiple second suction cups 3. The first suction cup 2 and the second suction cup 3 are both flexible tubes. When the first suction cup 2 and the second suction cup 3 are both in a natural extension length, the second suction port end 31 of the second suction cup 3 is located outside the first suction cup 2. When the first suction cup 2 and the second suction cup 3 are each shortened to the shortest, the second suction port end 31 of the second suction cup 3 is located inside the first suction cup 2.

[0067] The pressure detection component 4 is used to detect the air pressure value in the second air flow channel 12 or in the second suction cup 3, and the pressure detection component 4 is used to control the start and stop of the first vacuum generator.

[0068] There is one first airflow channel 11, and there are multiple second airflow channels 12 corresponding to the second suction cup 3. The sum of the flow rates of the multiple second airflow channels 12 is less than the flow rate of the first airflow channel 11. The first quick-pass inlet 111 is used to spray airflow to the first outlet 112, so that the first airflow channel 11 constitutes a first vacuum generator, and the first suction port end 21 forms a negative pressure zone. The second quick-pass inlet 121 is used to spray airflow to the second outlet 122, so that the second airflow channel 12 constitutes a second vacuum generator, and the second suction port end 31 forms a negative pressure zone.

[0069] The following describes a picking robot 1000 according to an embodiment of the present invention with reference to the accompanying drawings.

[0070] The picking robot 1000 according to the embodiment of the present invention comprises: a mechanical arm 200 and the composite suction holding device 100 described in the above embodiment of the present invention, and the composite suction holding device 100 is arranged on the mechanical arm 200 .

[0071] According to the picking robot 1000 of the embodiment of the present invention, a composite suction device provides a form of cooperation between two types of vacuum generators, so that the robot arm 200 can pick up materials with flat surfaces and uneven surfaces, while reducing gas consumption. For example, when the robot arm 200 performs a picking operation, at least one of the first vacuum generator and the second vacuum generator can be intelligently opened according to the surface characteristics of the material to suck up the material. In addition, at least part of the second suction cup 3 is arranged in the first suction cup 2, so that the composite suction device 100 is integrated, which can effectively reduce the occupied space of the composite picking robot 1000.

[0072] Other components of the picking robot 1000 according to the embodiment of the present invention, such as a control device and operations, are known to those of ordinary skill in the art and will not be described in detail here.

[0073] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0074] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A compound suction device, characterized in that, it includes: A body, a first air flow channel and a second air flow channel are defined in the body, the first air flow channel has a first quick-pass inlet and a first outlet, and the second air flow channel has a second quick-pass inlet and a second outlet; A first suction cup, the first suction cup is arranged on the body, one end of the first suction cup forms a first suction port end and the other end communicates with the first air flow channel; A second suction cup, at least part of the second suction cup is arranged in the first suction cup, one end of the second suction cup forms a second suction port end and the other end communicates with the second air flow channel, and the second suction port end and the first suction port end are located at the same end of the first suction cup; wherein, The first quick-pass inlet is used to inject air flow towards the first outlet, so that the first air flow channel forms a first vacuum generator and the first suction port end forms a negative pressure area; The second quick-pass inlet is used to inject air flow towards the second outlet, so that the second air flow channel forms a second vacuum generator and the second suction port end forms a negative pressure area; in addition, The compound suction device further includes a pressure detection component, the pressure detection component is used to detect the air pressure value of one of the first vacuum generator and the second vacuum generator, and the pressure detection component is used to control the start and stop of the other of the first vacuum generator and the second vacuum generator.

2. The compound suction device according to claim 1, characterized in that, When the pressure detection component is used to detect the first vacuum generator, the sensing end of the pressure detection component is arranged in the first air flow channel or in the first suction cup; when the pressure detection component is used to detect the second vacuum generator, the sensing end of the pressure detection component is arranged in the second air flow channel or in the second suction cup.

3. The compound suction device according to claim 1, characterized in that, The second air flow channel is located inside the first air flow channel, and the second outlet communicates with the first air flow channel to exhaust air from the first outlet.

4. The compound suction device according to claim 1, characterized in that, There are multiple second suction cups.

5. The compound suction device according to claim 4, characterized in that, There is one first air flow channel, and there are multiple second air flow channels corresponding to the second suction cups one by one.

6. The compound suction device according to claim 1, characterized in that, Both the first suction cup and the second suction cup are flexible tubes.

7. The compound suction device according to claim 6, characterized in that, When both the first suction cup and the second suction cup are at their natural elongation lengths, the second suction port end of the second suction cup is located outside the first suction cup.

8. The compound suction device according to claim 6, characterized in that, When the first suction cup and the second suction cup are each shortened to the shortest, the second suction port end of the second suction cup is located inside the first suction cup.

9. The compound suction device according to any one of claims 1-8, characterized in that, The body includes: a first shell portion, wherein the first outlet is disposed at one end of the first shell portion, and the first quick-pass inlet is disposed on the first shell portion; An adapter ring connected to the other end of the first shell; a second shell portion, wherein the second shell portion is connected to the adapter ring, the first suction cup is connected to the second shell portion, the first shell portion and the second shell portion define the first airflow channel, and the second shell portion is provided with the second quick-pass inlet; The third shell part is arranged in the second shell part, the second air flow channel is defined inside the third shell part, and the second suction cup is connected to the third shell part.

10. A picking robot, It is characterized in that include: A mechanical arm and a composite suction holding device according to any one of claims 1 to 9, wherein the composite suction holding device is arranged on the mechanical arm.

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