Recovery nozzle, suction recovery mechanism and rejection device

Abstract

The present disclosure provides a recovery nozzle, a suction recovery mechanism, and a rejection device. The recovery nozzle includes a recovery portion; the recovery portion has a receiving cavity located inside thereof, a front inlet, and a rear outlet; the recovery portion further has a top wall, and the top wall is provided with a U-shaped notch that penetrates the top wall in the vertical direction and extends from the front inlet of the receiving cavity toward the rear outlet of the receiving cavity. The risk of material dropping can be reduced and the rejection efficiency can be improved. The suction recovery mechanism includes a vacuum amplifier, a delivery pipe, and a recovery nozzle. One end of the vacuum amplifier is communicated with the rear outlet, and the other end of the vacuum amplifier is communicated with one end of the delivery pipe. The rejection device includes: a picking mechanism configured to pick up and release materials; a suction recovery mechanism configured to: when the picking mechanism holds the position unchanged after picking up the materials, the suction recovery mechanism moves relative to the picking mechanism to approach the materials picked up by the picking mechanism and suck away the materials after receiving the materials released by the picking mechanism.

Description

Technical Field

[0001] The present disclosure relates to the field of recycling, and more particularly to a recycling nozzle, a suction recycling mechanism, and a rejection device. Background Art

[0002] In existing cases of using robots for material sorting, in most cases, a picking mechanism (such as a gripper) is installed at the end of the robot, and materials are taken out from the material pile and then placed in another area adjacent to the robot, or a device similar to a vacuum cleaner is used to directly suck out certain materials.

[0003] Adopting the grasping method, since the grasped object needs to be placed in other positions after grasping, the robotic arm needs to make reciprocating motions in the middle, which will cause the following problems: the reciprocating motion delays time and affects efficiency; there is a risk of the picked object falling during the reciprocating process, especially when the reciprocating action is fast.

[0004] Adopting the direct suction method, for irregular materials, since the materials need to pass through a pipe with a fixed diameter, usually the pipe diameter is larger than the largest material, and there is a greater risk of slender materials getting stuck at the suction port; there is a risk of material accumulation getting stuck at the suction port. For the case where there are larger individuals in fine and scattered materials that need to be rejected, to ensure that the large materials can be sucked away, usually the suction port is large, so that a large amount of small materials that do not need to be sucked out will be carried out when sucking out the large materials, and the rejection efficiency is low. Summary of the Invention

[0005] In view of the problems in the background art, the purpose of the present disclosure is to provide a recycling nozzle, a suction recycling mechanism, and a rejection device, which are at least suitable for reducing the risk of the picked materials falling before release and improving the rejection efficiency.

[0006] Thus, in some embodiments, the present disclosure provides a recycling nozzle. The recycling nozzle includes a recycling portion; the recycling portion has a receiving cavity inside it, a front inlet and a rear outlet communicating with the receiving cavity; the recycling portion further has a top wall, and the top wall is provided with a U-shaped notch, and the U-shaped notch penetrates the top wall in the vertical direction and extends from the front inlet of the receiving cavity towards the rear outlet of the receiving cavity.

[0007] In some embodiments, the U-shaped notch has a front opening and an inner bottom. The front opening is located at the front inlet of the receiving cavity and communicates with the front inlet of the receiving cavity. The inner bottom of the U-shaped notch is located in front of the rear outlet of the receiving cavity and is spaced apart from the rear outlet of the receiving cavity.

[0008] In some embodiments, the recycling portion further has a bottom wall, a left wall, and a right wall. The inner wall surface of the top wall slopes downward from the front entrance towards the rear exit and terminates at the top end of the rear exit; the inner wall surface of the bottom wall slopes downward from the front entrance towards the rear exit and terminates at the bottom end of the rear exit; the inner wall surfaces of the left wall and the right wall gradually approach each other from the front entrance towards the rear exit, so that the receiving cavity tapers in an arc and terminates at the left and right sides of the rear exit.

[0009] In some embodiments, the recycling portion further has a bottom wall. The inner wall surface of the bottom wall is an arc that slopes downward first and then upward from the front entrance towards the rear exit and terminates at the bottom end of the rear exit; in a vertical cross-section passing through the center line of the rear exit, the angle between the line connecting the lowest point of the arc of the inner wall surface of the bottom wall and the bottom end of the rear exit and the horizontal line is less than 5 degrees, preferably 2-3 degrees.

[0010] In some embodiments, in the first horizontal direction from the front entrance to the rear exit, the distance from the innermost position of the inner bottom of the U-shaped notch to the front end face of the rear exit is less than the distance from the innermost position of the inner bottom of the U-shaped notch to the front entrance of the receiving cavity.

[0011] In some embodiments, in the vertical direction perpendicular to the first horizontal direction from the front entrance to the rear exit, the lowest position of the lower edge of the inner bottom of the U-shaped notch is higher than the center line of the front entrance of the receiving cavity and higher than the top end of the rear exit of the receiving cavity.

[0012] In some embodiments, the recycling nozzle further includes a material blocking platform, which is arranged at the front entrance; the material blocking platform has an upper edge and a lower edge. In the vertical direction perpendicular to the first horizontal direction from the front entrance to the rear exit, the upper edge and the lower edge face each other, and the upper edge is higher than the bottom edge of the front entrance.

[0013] In some embodiments, the material blocking platform is formed with a recess, and the recess is located in front of the front end face of the wall forming the front entrance of the recycling portion.

[0014] In some embodiments, the recycling nozzle further includes a mounting portion, which is fixedly connected to the recycling portion. The mounting portion has a groove. Along the first horizontal direction from the front entrance to the rear exit, the groove communicates with the rear exit and the cross-sectional area of the groove is larger than the cross-sectional area of the rear exit, so as to form a step at the connection between the groove and the rear exit.

[0015] In some embodiments, the recycling nozzle further includes a mounting portion, which is fixedly connected to the recycling portion. The mounting portion has a mounting surface, and the mounting surface is located on one side of the vertical direction perpendicular to the first horizontal direction from the front entrance to the rear exit; the mounting surface is located on the upper side in the vertical direction of the mounting portion.

[0016] In some embodiments, the present disclosure provides a suction and recovery mechanism. The suction and recovery mechanism includes a vacuum amplifier, a delivery pipe, and the aforementioned recovery nozzle. One end of the vacuum amplifier communicates with the rear outlet, and the other end of the vacuum amplifier communicates with one end of the delivery pipe.

[0017] In some embodiments, the present disclosure provides a rejection device. The rejection device includes: a picking mechanism configured to pick up and release materials; the aforementioned suction and recovery mechanism configured to: when the picking mechanism remains in place after picking up the materials, the suction and recovery mechanism moves relative to the picking mechanism to approach the materials picked up by the picking mechanism and suck away the materials after receiving the materials released by the picking mechanism.

[0018] The beneficial effects of the present disclosure are as follows: During use, the recovery nozzle cooperates with the picking mechanism through the U-shaped notch in the top wall of the recovery part, which can reduce the risk of the picked materials falling before release and improve the rejection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a perspective view of the rejection device according to the present disclosure.

[0020] Figure 2 is Figure 1 a partial exploded view of the rejection device.

[0021] Figure 3 is Figure 2 an assembly view of some components of and shown in a partial cross-sectional view.

[0022] Figure 4 is Figure 1 a perspective view of the recovery nozzle of the recovery mechanism of the rejection device of.

[0023] Figure 5 is Figure 4 a perspective view from another angle of.

[0024] Figure 6 is Figure 4 a bottom perspective view of.

[0025] Figure 7 is Figure 6 a perspective view from another angle of.

[0026] Figure 8 is Figure 4 a front view of.

[0027] Figure 9 is Figure 4 a bottom view of.

[0028] Figure 10 is Figure 9 a cross-sectional view taken along line A-A of.

[0029] Figure 11 is Figure 4 a perspective view of a modified example of

[0030] Figure 12 is Figure 4 a perspective view of another modified example of

[0031] Figure 13 is Figure 4 a perspective view of yet another modified example of

[0032] Figure 14 is Figure 13 a perspective view from another angle of

[0033] Figure 15 a schematic diagram of various materials.

[0034] Figure 16 shows the state before the suction recovery mechanism moves relative to the picking mechanism.

[0035] Figure 17 shows the state after the suction recovery mechanism moves relative to the picking mechanism.

[0036] Among them, the reference numerals are explained as follows:

[0037] 100 Rejection device 231a Bottom

[0038] M Material 232 Step

[0039] 1 Picking mechanism 233 Mounting surface

[0040] 11 Suction port 234 Mounting cavity

[0041] 2 Suction recovery mechanism 235 Side wall

[0042] 20 Recovery nozzle 236 Notch

[0043] 21 Recovery part 237 Rear end face

[0044] D1 First horizontal direction 24 Connecting part

[0045] D2 Second horizontal direction 25 Clamping part

[0046] D3 Vertical direction 251 Passage

[0047] 211 Receiving cavity 252 Clamping arm

[0048] 212 Front entrance 252a Through hole

[0049] 212a Center line 253 Gap

[0050] 212b Bottom edge 26 Vacuum amplifier

[0051] 213 Rear exit 261 Passage

[0052] 213a Bottom end 262 End part

[0053] 213b Top end 263 First ring body

[0054] 213c Center line 263a Outer end face

[0055] 213d Front end face 264 Second ring body

[0056] 214 Top wall 265 Third ring body

[0057] 214a Inner wall face 265a Axial end part

[0058] 214b U-shaped notch 266 Fourth ring body

[0059] O Front opening G Gap

[0060] Bi Inner bottom 27 Delivery pipe

[0061] Pi Innermost position 271 End part

[0062] El Lower edge 28 End cover

[0063] Pl Lowest position 29 Pipe clamp

[0064] 215 Bottom wall 291 First half body

[0065] 215a Inner wall face 292 Second half body

[0066] 216 Left wall 293 Connecting plate

[0067] 216a Inner wall face 3 First driving mechanism

[0068] 217 Right wall 31 Slide table

[0069] 217a Inner wall face 32 Cylinder

[0070] 218 Outer periphery 321 Cylinder block

[0071] 219 Front end face 322 Piston

[0072] θ Angle 4 Second driving mechanism

[0073] 22 Material blocking table 5 Third driving mechanism

[0074] 221 Upper edge 51 Third power unit

[0075] 222 Lower edge 52 Slide block

[0076] 223 Outer periphery 53 Slide rail

[0077] 224 recess 6 fourth driving mechanism

[0078] 225 outer wall surface 61 fourth power unit

[0079] 226 inner wall surface 62 sliding sleeve

[0080] 23 mounting portion 63 slide bar

[0081] 231 groove 7 conveying mechanism DETAILED DESCRIPTION

[0082] The accompanying drawings show embodiments of the present disclosure, and it will be understood that the disclosed embodiments are merely examples of the present disclosure, and the present disclosure can be implemented in various forms. Therefore, the specific details disclosed herein should not be interpreted as limiting, but merely as the basis for the claims and as a representative basis for teaching ordinary technicians in the field to implement the present disclosure in various ways.

[0083] In addition, the expressions indicating directions (e.g., up and down) used to illustrate the operation and construction of the components in the embodiments are not absolute but relative, and although these indications are appropriate when the components are in the positions shown in the figures, when these positions are changed, these directions should be interpreted differently to correspond to the changes.

[0084] Reference Figures 1 to 3 The rejecting device 100 includes a picking mechanism 1 and a suction recovery mechanism 2.

[0085] The picking mechanism 1 is configured to pick up and release the material M. The suction recovery mechanism 2 is configured such that, after the picking mechanism 1 picks up the material M, the picking mechanism 1 remains in place, and the suction recovery mechanism 2 moves relative to the picking mechanism 1 to approach the material M picked up by the picking mechanism 1 and suck away the material M after receiving the material M released by the picking mechanism 1. The material M refers to foreign matter that is different from the effective material scattered in the material to be sorted, and its distribution may be disorderly or regular.

[0086] After the picking mechanism 1 picks up the material M, the picking mechanism 1 remains in place, and the suction recovery mechanism 2 moves relative to the picking mechanism 1 to suck away the material M, thereby avoiding the picking mechanism 1 from making a large movement after picking up the material M to place the picked up material M at other required positions, and then returning to pick up the material. This improves the extraction efficiency of the picking mechanism 1 and the rejection efficiency of the rejection device 100, avoids the risk of the picked up material M falling during the reciprocating movement of the picking mechanism 1, and can adapt to the rejection of materials M of various sizes and shapes, such as Figure 15 The flaky materials, granular materials, block materials, rod-shaped materials, filamentous materials, light feathers and fluff, etc. are shown.

[0087] In some embodiments, referring to Figure 1 and Figure 2 , the picking mechanism 1 is a suction cup. The suction cup can better adapt to materials of different shapes relative to the jaws.

[0088] In some embodiments, the suction cup is rod-shaped. Adopting a rod shape is beneficial for making the suction cup have a small diameter. In the case where the size and shape of the material M are irregular, a small-sized suction cup can accurately pick out the material M to be removed from the densely packed materials to be sorted, reducing the risk of bringing out other materials.

[0089] In some embodiments, the suction cup is a sponge suction cup. The sponge suction cup can be more flexible and diverse in the control of flow rate and vacuum pressure, and has a larger range, and can better adapt to more different types of materials.

[0090] In some embodiments, a net (not shown) is provided inside the end of the suction cup (i.e., the suction port 11) to prevent the material M from being stuck in the suction cup. The net can be a metal net, and further, the metal net can be a wire mesh.

[0091] Referring to Figures 2 to 14 , the suction and recovery mechanism 2 includes a recovery nozzle 20. The recovery nozzle 20 includes a recovery portion 21.

[0092] Referring to Figures 4 to 10 , in one embodiment, the recovery portion 21 has a receiving cavity 211 located inside thereof, and a front inlet 212 and a rear outlet 213 communicating with the receiving cavity 211. The sizes of the front inlet 212 and the receiving cavity 211 are both set to allow the end portion of the picking mechanism 1 together with the picked material M to enter the receiving cavity 211, and the size of the rear outlet 213 is configured to allow the material M entering the receiving cavity 211 to pass through. Thus, it is possible to avoid the situation where the material M may block the end face (i.e., the front end face 219) of the wall of the front inlet 212 when the suction and recovery mechanism 2 directly sucks the material M in front of the front inlet 212 of the receiving cavity 211.

[0093] In one embodiment, referring to Figure 10 , the rear outlet 213 is circular, and the bottom edge 212b of the front inlet 212 in the vertical direction D3 is higher than the center line 213c of the rear outlet 213 but lower than the top end 213b of the rear outlet 213. Thus, it is possible to form an obliquely downward flowing air current from the front inlet 212 to the rear outlet 213 during suction. The obliquely downward air current forms a component force along the center line 213c of the rear outlet 213 and perpendicular to the center line 213c of the rear outlet 213 and downward. Combining with the own gravity of the material M entering the receiving cavity 211, especially when the material M is relatively heavy, it accelerates the flow of the material M and improves the suction efficiency of the material M entering the rear outlet 213.

[0094] Referring to Figures 2 to 14 , the recovery portion 21 has a top wall 214.

[0095] In one embodiment, referring to Figure 4 and Figure 10 , the inner wall surface 214a of the top wall 214 slopes downward from the front inlet 212 towards the rear outlet 213 and terminates at the top end 213b of the rear outlet 213. Thus, the inner wall surface 214a of the top wall 214 can guide the material M sucked into the accommodation chamber 211.

[0096] In some embodiments, referring to Figures 2 to 14 , the top wall 214 is provided with a U-shaped notch 214b. The U-shaped notch 214b penetrates the top wall 214 in the vertical direction D3 and extends from the front inlet 212 of the accommodation chamber 211 towards the rear outlet 213 of the accommodation chamber 211. The U-shaped notch 214b allows the suction cup (i.e., the picking mechanism 1) to enter and exit. That is, the recovery nozzle 20 moves relative to the picking mechanism 1, and the picking mechanism 1 enters the accommodation chamber 211 through the front inlet 212 and the U-shaped notch 214b of the accommodation chamber 211. The recovery nozzle 20 cooperates with the picking mechanism 1 through the U-shaped notch 214b of the top wall 214 of the recovery part 21, which can reduce the risk of the picked material falling before release and improve the rejection efficiency. Since the U-shaped notch 214b connects the accommodation chamber 211 with the external air, when the suction and recovery mechanism 2 operates to suck the material M, the external air flows in through the U-shaped notch 214b to form a downward airflow in the vertical direction D3 from top to bottom, which forms an airflow from the front inlet 212 to the rear outlet 213 in the first horizontal direction D1 with the air inhaled from the front inlet 212 of the accommodation chamber 211. The airflow in these two directions will form a two-way effect to separate the material M sucked by the suction and recovery mechanism 2. Thus, the suction force received by the material M can be increased, and the reliability of recovery can be improved.

[0097] Referring to Figure 4 , the U-shaped notch 214b has a front opening O and an inner bottom Bi. The front opening O is located at the front inlet 212 of the accommodation chamber 211 and is connected to the front inlet 212 of the accommodation chamber 211. The inner bottom Bi of the U-shaped notch 214b is located in front of the rear outlet 213 of the accommodation chamber 211 and is spaced apart from the rear outlet 213 of the accommodation chamber 211. Thus, the inner bottom Bi not only plays a limiting role in restricting the position of the recovery nozzle 20 relative to the picking mechanism 1, but also provides enough space between the inner bottom Bi of the U-shaped notch 214b and the rear outlet 213 for materials with special dimensions (sheet materials, rod-shaped materials, filamentous materials) to adjust their postures by the aforementioned two-way airflow and smoothly enter the rear outlet 213, thereby preventing the material M (such as a rod-shaped material) from getting stuck at the rear outlet 213.

[0098] Referring to Figure 4 and Figure 10, in the vertical direction D3 perpendicular to the first horizontal direction D1 from the front inlet 212 to the rear outlet 213, the lowest position Pl of the lower edge El of the inner bottom Bi of the U-shaped notch 214b is higher than the top end 213b of the rear outlet 213 of the receiving cavity 211. Thus, the function of enabling the aforementioned bidirectional airflow to separate the material M sucked by the suction recovery mechanism 2 can be fully exerted.

[0099] In the first horizontal direction D1 from the front inlet 212 to the rear outlet 213, the distance from the innermost position Pi of the inner bottom Bi of the U-shaped notch 214b to the front end face 213d of the rear outlet 213 is less than the distance from the innermost position Pi of the inner bottom Bi of the U-shaped notch 214b to the front inlet 212 of the receiving cavity 211. Thus, the flow rate of the upward-downward airflow along the vertical direction D3 formed via the U-shaped notch 214b and the effect acting on the material M sucked by the suction recovery mechanism 2 from top to bottom are increased.

[0100] Refer to Figures 2 to 14 , the recovery part 21 has a bottom wall 215. The bottom wall 215 and the top wall 214 are opposite to each other in the vertical direction D3.

[0101] In some embodiments, the inner wall surface 215a of the bottom wall 215 slopes downward from the front inlet 212 towards the rear outlet 213 and terminates at the bottom end 213a of the rear outlet 213. Thus, if the material M detached from the picking mechanism 1 falls on the inner wall surface 215a of the bottom wall 215, the material M can simultaneously move downward along the downward slope towards the rear outlet 213 by means of gravity, thereby increasing the efficiency of the material M sucked by the suction recovery mechanism 2. In addition, the downward-sloping inner wall surface 215a of the bottom wall 215 can also reduce the risk of the material M slipping out of the recovery nozzle 20.

[0102] Refer to Figure 10 , in one embodiment, the inner wall surface 215a of the bottom wall 215 is an arc that slopes downward first and then upward from the front inlet 212 towards the rear outlet 213 and terminates at the bottom end 213a of the rear outlet 213. Thus, the air entering via the front inlet 212 forms an upward-sloping air flow towards the rear outlet 213. When it converges with the upward-downward airflow along the vertical direction D3 formed by the U-shaped notch 214b, the latter will act on the former, making the combined airflow enter the rear outlet 213 as centrally as possible. Further, in the vertical section passing through the center line 213c of the rear outlet 213, the angle θ between the line connecting the lowest point of the arc of the inner wall surface 215a of the bottom wall 215 and the bottom end 213a of the rear outlet 213 and the horizontal line is less than 5 degrees, preferably 2 - 3 degrees. Thus, considering the flow rates of the aforementioned two airflows, the combined airflow enters the rear outlet 213 centrally.

[0103] Refer to Figures 2 to 14, the recycling section 21 has a left wall 216 and a right wall 217. The left wall 216 and the right wall 217 are opposite to each other and are connected between the top wall 214 and the bottom wall 215. The top wall 214, the bottom wall 215, the left wall 216, and the right wall 217 enclose a receiving cavity 211. The inner wall surfaces of the top wall 214, the bottom wall 215, the left wall 216, and the right wall 217 form a front entrance 212 of the receiving cavity 211 at the front end and a rear exit 213 of the receiving cavity 211 at the rear end.

[0104] In some embodiments, the top wall 214 and the left wall 216, the top wall 214 and the right wall 217, the bottom wall 215 and the left wall 216, and the bottom wall 215 and the right wall 217 are all smoothly transitioned on the inner wall surfaces. Thus, the receiving cavity 211 has no sharp corners and is smoothly transitioned, reducing the risk that the material M sucked into the receiving cavity 211 is stuck by the sharp corners.

[0105] In some embodiments, the inner wall surface 216a of the left wall 216 and the inner wall surface 217a of the right wall 217 gradually approach each other from the front entrance 212 toward the rear exit 213, so that the receiving cavity 211 is gradually tapered in an arc shape and terminates on the left and right sides of the rear exit 213. Through the convergence of the inner wall surface 216a of the left wall 216 and the inner wall surface 217a of the right wall 217, not only can it play a guiding role for the material M sucked into the receiving cavity 211, but also the volume of the receiving cavity 211 is gradually reduced, thereby increasing the air flow pressure for sucking the material in the receiving cavity 211, improving the suction force, reducing the residence time of the material M in the receiving cavity 211, and improving the suction efficiency.

[0106] Refer to Figures 2 to 14 , in some embodiments, the recycling nozzle 20 further includes a material blocking platform 22, and the material blocking platform 22 is disposed at the front entrance 212. The material blocking platform 22 can prevent the material M separated from the picking mechanism 1 from rolling out of the receiving cavity 211.

[0107] The material blocking platform 22 has an upper edge 221 and a lower edge 222. In one embodiment, refer to Figure 10 , in the vertical direction D3, the upper edge 221 of the material blocking platform 22 is lower than the center line 212a of the front entrance 212 (that is, the height of the material blocking platform 22 is lower than half of the height of the front entrance 212 of the receiving cavity 211) to ensure the air flow rate entering from the front entrance 212. In one embodiment, refer to Figure 10 , in the vertical direction D3 perpendicular to the first horizontal direction D1 from the front entrance 212 to the rear exit 213, the upper edge 221 and the lower edge 222 are opposite to each other, and the upper edge 221 is higher than the bottom edge 212b of the front entrance 212 so that the material blocking platform 22 has a height to prevent the material M separated from the picking mechanism 1 from rolling out of the receiving cavity 211.

[0108] In some embodiments, refer to Figure 4 and Figure 11The material blocking platform 22 is formed with a recess 224, and the recess 224 is located in front of the front end surface 219 of the wall forming the front entrance 212 of the recovery part 21. This increases the travel of the material M rolling outward from the bottom edge 212b of the front entrance 212 to the material blocking platform 22, and enhances the effect of preventing the material M detached from the picking mechanism 1 from rolling out of the receiving chamber 211.

[0109] In one embodiment, referring to Figure 10 In the vertical direction D3, the upper edge 221 of the material blocking platform 22 is lower than the lowest position Pl of the lower edge El of the inner bottom Bi of the U-shaped notch 214b. As a result, the receiving chamber 211 has more sufficient space to accommodate the part at the suction port 11 of the picking mechanism 1 and the picked-up material M. Further, in one embodiment, in the vertical direction D3, the distance between the upper edge 221 of the material blocking platform 22 and the lowest position Pl of the lower edge El of the inner bottom Bi of the U-shaped notch 214b is configured to be not less than the size of the material M in the vertical direction D3.

[0110] In some embodiments, reference Figure 4 , Figure 6 , Figure 11 and Figure 12 The material blocking platform 22 protrudes from the front entrance 212 along the first horizontal direction D1 from the rear exit 213 to the front entrance 212. Furthermore, the outer peripheral edge 223 of the material blocking platform 22 facing the front entrance 212 extends to the outer peripheral edge 218 of the wall of the recovery part 21 forming the front entrance 212, thereby improving the aesthetic appearance of the combination formed by the recovery part 21 and the material blocking platform 22.

[0111] In one embodiment, referring to Figure 12 The material blocking platform 22 is a flat plate, and the inner wall surface 226 of the flat plate abuts against the front end surface 219 of the wall forming the front inlet 212 of the recovery part 21. Thus, the structure is simple relative to the case where the concave portion 224 is formed.

[0112] In one embodiment, referring to Figure 13 and Figure 14 The material blocking platform 22 is accommodated in the front entrance 212, and the outer wall surface 225 of the material blocking platform 22 is coplanar with the front end surface 219 of the wall of the recovery part 21 forming the front entrance 212. Thus, compared with the material blocking platform 22 protruding from the front entrance 212, the volume of the combination formed by the recovery part 21 and the material blocking platform 22 can be reduced.

[0113] Reference Figures 4 to 14 In some embodiments, the recovery nozzle 20 further includes a mounting portion 23. The mounting portion 23 is fixedly connected to the recovery portion 21.

[0114] Reference Figure 7 and Figure 10The mounting portion 23 has a groove 231, and along the first horizontal direction D1 from the front inlet 212 to the rear outlet 213, the groove 231 is connected to the rear outlet 213 and the cross-sectional area of ​​the groove 231 is larger than the cross-sectional area of ​​the rear outlet 213, so that a step 232 is formed at the connection between the groove 231 and the rear outlet 213. As a result, the diameter of the suction channel is gradually increased, so that the sucked material M can move downstream more smoothly.

[0115] In one embodiment, referring to Figure 4 The mounting portion 23 has a mounting surface 233, which is located on one side of the vertical direction D3 perpendicular to the first horizontal direction D1 from the front inlet 212 to the rear outlet 213, and the mounting surface 233 is located on the upper side of the mounting portion 23 in the vertical direction D3; the mounting surface 233 is used to be fixedly connected to the first driving mechanism 3 described later. By having the mounting surface 233 located on the upper side of the mounting portion 23 in the vertical direction D3, the size of the recovery nozzle 30 in the vertical direction D3 is directly used to set the position of the recovery nozzle 30 relative to the picking mechanism 1 in the vertical direction D3, shortening the movement distance of the recovery nozzle 30 in the vertical direction D3 relative to the picking mechanism 1, and improving the rejection efficiency.

[0116] In some embodiments, reference Figure 4 and Figures 11 to 14 The mounting portion 23 has a mounting cavity 234 that opens rearward and opens to a side away from the mounting surface 233. The mounting cavity 234 is used to mount a vacuum amplifier 26 described later.

[0117] In one embodiment, referring to Figures 4 to 7 as well as Figure 11 and Figure 12 The side wall 235 of the mounting portion 23 that forms the opening on the side away from the mounting surface 233 is provided with a notch 236 that penetrates the side wall 235 along the thickness direction of the side wall 235, and the notch 236 opens in the same direction (i.e., along the vertical direction D3) as the opening of the mounting cavity 234 that opens on the side away from the mounting surface 233. Thus, when viewed from the first horizontal direction D1, the mounting portion 23 is U-shaped, which can reduce the size and weight of the mounting portion 23 and make the mounting portion 23 miniaturized.

[0118] like Figure 5 As shown, the mounting portion 23 has a rear end surface 237, and the rear end surface 237 is used to mount the end cover 28 described later.

[0119] In one embodiment, referring to Figure 13 and Figure 14, the suction and recovery mechanism 2 further includes a connecting portion 24, a clamping portion 25, and a fastener (not shown). The connecting portion 24 extends outward from the mounting portion 23, and the clamping portion 25 extends backward from the connecting portion 24 along the axial direction (the axial direction is parallel to the first horizontal direction D1 from the front inlet 212 to the rear outlet 213). The clamping portion 25 forms an axially penetrating passage 251 for accommodating the vacuum amplifier 26 and the delivery pipe 27 described later. The clamping portion 25 has two clamping arms 252. The two clamping arms 252 extend radially beyond the connecting portion 24 around the passage 251. A gap 253 penetrating the clamping portion 25 in the radial direction is formed between the two clamping arms 252. Through holes 252a penetrating in the direction opposite to each other are formed in the two clamping arms 252. The fastener (not shown) passes through the two holes to reduce the gap 253 and clamp the socket part between the vacuum amplifier 26 and the delivery pipe 27.

[0120] In some embodiments, referring to Figure 2 and Figure 3 , the suction and recovery mechanism 2 further includes a vacuum amplifier 26. The vacuum amplifier 26 has a channel 261 penetrating the vacuum amplifier 26 axially, and the axial direction is parallel to the first horizontal direction D1 from the front inlet 212 to the rear outlet 213. The vacuum amplifier 26 is inserted into the mounting portion 23. The end portion 262 of the vacuum amplifier 26 is received in the groove 231 and faces the step 232. The channel 261 communicates with the rear outlet 213, and the diameter of the rear outlet 213 is smaller than the diameter of the channel 261 of the vacuum amplifier 26. The diameter of the rear outlet 213 is smaller than the diameter of the channel 261 of the vacuum amplifier 26 and the cross-sectional area of the aforementioned groove 231 is larger than the cross-sectional area of the rear outlet 213, realizing two-stage amplification of the channel for sucking materials, thereby reducing the risk of the material M getting stuck in the channel.

[0121] Referring to Figure 2 and Figure 3 , in one embodiment, the vacuum amplifier 26 includes a first ring body 263 and a second ring body 264. The second ring body 264 extends axially forward from the first ring body 263. The outer diameter of the first ring body 263 is larger than the outer diameter of the second ring body 264. The channel 261 penetrates the first ring body 263 and the second ring body 264 axially; the second ring body 264 is inserted into the groove 231.

[0122] Referring to Figures 3 to 7 , the outer peripheral surface of the first ring body 263 is in partial contact with the inner wall surface of the mounting cavity 234. Thereby, the positioning stability of the vacuum amplifier 26 is increased.

[0123] Referring to Figure 3 , in one embodiment, the second ring body 264 abuts against the step 232.

[0124] In another embodiment, the second annular body 264 is spaced apart from the step 232 and the spacing is less than 0.2 mm, so that even if there is a gap between the second annular body 264 and the step 232, there is no risk of the material M being stuck in the gap.

[0125] Referring to Figure 3 , in one embodiment, the vacuum amplifier 26 further includes a third annular body 265. The third annular body 265 is axially located between the first annular body 263 and the second annular body 264 and connects the first annular body 263 and the second annular body 264. The outer diameter of the third annular body 265 is greater than the outer diameter of the second annular body 264 but less than the outer diameter of the first annular body 263; the channel 261 axially penetrates through the first annular body 263 and the second annular body 264.

[0126] Referring to Figure 3 , in one embodiment, the second annular body 264 abuts against the step 232, and the end faces of the first annular body 263 and / or the third annular body 265 are spaced apart from the step 232, so that the end face of the second annular body 264 can closely adhere to the step 232 to prevent the material M from being stuck. For example, along the first horizontal direction D1, there is a gap G between the axial end 265a of the third annular body 265 and the installation cavity 234. In another embodiment, the gap G is used to arrange a sealing ring (not shown).

[0127] Referring to FIGS. 2 and Figure 3 , in one embodiment, the vacuum amplifier 26 further includes a fourth annular body 266. The fourth annular body 266 protrudes backward from the first annular body 263. The outer diameter of the fourth annular body 266 is smaller than that of the first annular body 263, and the channel 261 also axially penetrates through the fourth annular body 266.

[0128] Referring to Figure 2 and Figure 3 , in one embodiment, the suction and recovery mechanism 2 further includes a delivery pipe 27.

[0129] In one embodiment, referring to Figure 2 and Figure 3 , the inner diameter of the delivery pipe 27 is greater than the diameter of the channel 261 of the vacuum amplifier 26. Thus, the amplification of the channel for sucking the material is realized, and the risk of the material M being stuck in the channel is reduced. The arrangement of the delivery pipe 27 facilitates setting the destination where the material M is to be delivered.

[0130] In one embodiment, referring to Figure 3 , the inner diameter of the delivery pipe 27 is greater than the outer diameter of the fourth annular body 266, and the end 271 of the delivery pipe 27 is sealingly sleeved on the fourth annular body 266.

[0131] In one embodiment, the delivery pipe 27 is a bendable pipe, such as a corrugated pipe.

[0132] Referring to Figure 2, the suction and recovery mechanism 2 further includes an end cap 28. The end cap 28 abuts axially against the outer end face 263a of the first ring body 263 and the rear end face 237 of the mounting portion 23, and the end cap 28, the first ring body 263 and the mounting portion 23 are fixedly connected (for example, by threaded fasteners) together.

[0133] Referring to Figure 2 , the suction and recovery mechanism 2 further includes a pipe clamp 29. The pipe clamp 29 clamps the delivery pipe 27.

[0134] In one embodiment, referring to Figure 2 , the pipe clamp 29 includes a first half body 291, a second half body 292 and a fastener (not shown in the figure). The first half body 291 and the second half body 292 cooperate to receive and clamp the delivery pipe 27, and the fastener not shown fixes the first half body 291 and the second half body 292 together.

[0135] In one embodiment, referring to Figure 2 , the pipe clamp 29 further includes a connecting plate 293. The connecting plate 293 is connected to the second half body 292, and the connecting plate 293 is connected to the first driving mechanism 3 described later.

[0136] In addition, the suction and recovery mechanism 2 further includes a vacuum driving unit (not shown) for providing suction. The vacuum driving unit is connected to the delivery pipe 27.

[0137] Referring to Figure 1 , the rejection device 100 further includes a first driving mechanism 3. The first driving mechanism 3 is connected to the mounting portion 23, and the first driving mechanism 3 is configured to drive the recovery portion 21 to move relative to the picking mechanism 1 via the mounting portion 23.

[0138] In one embodiment, the first driving mechanism 3 is a linear driving mechanism in the first horizontal direction D1 from the front inlet 212 to the rear outlet 213, thereby shortening the movement distance of the movement recovery nozzle 20 and improving the rejection efficiency. For example, the linear driving mechanism is a linear motor or a linear cylinder.

[0139] In one embodiment, referring to Figure 2 , the first driving mechanism 3 includes a sliding table 31 and a cylinder 32. The sliding table 31 is fixedly connected to the mounting portion 23. The cylinder 32 includes a cylinder body 321 and a piston 322. The piston 322 can enter and exit the cylinder body 321. The cylinder body 321 is placed on the sliding table 31, and the cylinder body 321 is fixed. The sliding table 31 is connected to the piston 322 of the cylinder 32 so that the sliding table 31 can slide relative to the cylinder body 321 under the drive of the piston 322, and further drive the recovery portion 21 to move via the sliding table 31 and the mounting portion 23.

[0140] In other embodiments, the form of the first driving mechanism 3 can be changed so that the driving picking mechanism 1 and the suction and recovery mechanism 2 perform planar motion along the conveying surface of the subsequent conveying mechanism 7. For example, the first driving mechanism 3 is a multi-joint robot.

[0141] Referring to Figure 1 , in one embodiment, the rejection device 100 further includes a second driving mechanism 4. The second driving mechanism 4 is connected to the picking mechanism 1, and the second driving mechanism 4 is configured to drive the picking mechanism 1 to reciprocate in the vertical direction D3. For example, the second driving mechanism 4 is a linear motor or a linear cylinder.

[0142] The rejection device 100 further includes a fifth driving mechanism, and the fifth driving mechanism is connected to the second driving mechanism 4 and the first driving mechanism 3. The fifth driving mechanism is configured to: drive the picking mechanism 1 and the recovery part 21 to move together in the first horizontal direction D1 from the front entrance 212 to the rear exit 213 and / or in the second horizontal direction D2 perpendicular to the vertical direction D3 and the first horizontal direction D1.

[0143] Specifically, the fifth driving mechanism may include a third driving mechanism 5 and / or a fourth driving mechanism 6. The third driving mechanism 5 is configured to drive the picking mechanism 1 and the recovery part 21 to move together in the first horizontal direction D1 from the front entrance 212 to the rear exit 213; the fourth driving mechanism 6 is configured to drive the picking mechanism 1 and the recovery part 21 to move in the second horizontal direction D2 perpendicular to the first horizontal direction D1 and the vertical direction D3.

[0144] Referring to Figure 1 , in one embodiment, the rejection device 100 further includes a third driving mechanism 5. The third driving mechanism 5 is connected to the second driving mechanism 4 and the first driving mechanism 3, and the third driving mechanism 5 is configured to drive the picking mechanism 1 and the recovery part 21 to move together in the first horizontal direction D1 from the front entrance 212 to the rear exit 213.

[0145] In one embodiment, referring to Figure 1 , the third driving mechanism 5 includes: a third power unit 51, a slider 52, the slider 52 is fixedly connected to the second driving mechanism 4 and the first driving mechanism 3, and is fixedly connected to the third power unit 51; a slide rail 53, which is slidably matched with the slider 52 in the first horizontal direction D1.

[0146] Referring to Figure 1 , in one embodiment, the rejection device 100 further includes a fourth driving mechanism 6. The fourth driving mechanism 6 is connected to the third driving mechanism 5, and the fourth driving mechanism 6 is configured to drive the picking mechanism 1 and the recovery part 21 to move in the second horizontal direction D2 perpendicular to the first horizontal direction D1 and the vertical direction D3, and the second horizontal direction D2 and the first horizontal direction D1 form a horizontal plane.

[0147] That is to say, under the action of the third driving mechanism 5 and the fourth driving mechanism 6, the picking mechanism 1 and the recovery part 21 can move in the horizontal plane formed by the second horizontal direction D2 and the first horizontal direction D1.

[0148] In one embodiment, referring to Figure 1 The fourth driving mechanism 6 includes: a fourth power unit 61; a sleeve 62, the sleeve 62 is fixedly connected to the third driving mechanism 5 and fixedly connected to the fourth power unit 61; and a slide bar 63, which slides with the sleeve 62 in the first horizontal direction D1.

[0149] It should be noted that the first drive mechanism 3, the second drive mechanism 4, the third drive mechanism 5, and the fourth drive mechanism 6 can be replaced by other drive mechanisms, such as a horizontal multi-joint robot (SCARA), a parallel robot (spider arm), other joint robots, etc.

[0150] Reference Figure 1 In one embodiment, the rejecting device 100 further includes a conveying mechanism 7. The conveying mechanism 7 is configured to convey the material M, and the direction in which the material M is conveyed on the conveying mechanism 7 is parallel to the first horizontal direction D1. The conveying mechanism 7 is, for example but not limited to, a belt line, a ramp slide, a chain line, a round turntable, etc.

[0151] The above detailed description is used to describe multiple exemplary embodiments, but this document is not intended to be limited to the explicitly disclosed combinations. Therefore, unless otherwise stated, the various features disclosed herein can be combined together to form multiple additional combinations that are not shown for the sake of simplicity.

Claims

1. A recovery nozzle (20), characterized in that the recovery nozzle (20) includes a recovery part (21); the recovery part (21) has a receiving cavity (211) located inside thereof, a front inlet (212) and a rear outlet (213) communicating with the receiving cavity (211); the recovery part (21) further has a top wall (214), and the top wall (214) is provided with a U-shaped notch (214b). The U-shaped notch (214b) penetrates the top wall (214) in the vertical direction (D3) and extends from the front inlet (212) of the receiving cavity (211) towards the rear outlet (213) of the receiving cavity (211); the recovery part (21) further has a bottom wall (215), a left wall (216), and a right wall (217). The inner wall surface (214a) of the top wall (214) slopes downward from the front inlet (212) towards the rear outlet (213) and terminates at the top end (213b) of the rear outlet (213). The inner wall surface (215a) of the bottom wall (215) slopes downward from the front inlet (212) towards the rear outlet (213) and terminates at the bottom end (213a) of the rear outlet (213). The inner wall surfaces (216a) of the left wall (216) and the inner wall surfaces (217a) of the right wall (217) gradually approach each other from the front inlet (212) towards the rear outlet (213), so that the receiving cavity (211) tapers in an arc and terminates at the left and right sides of the rear outlet (213); or, the recovery part (21) further has a bottom wall (215), and the inner wall surface (215a) of the bottom wall (215) is an arc that first slopes downward and then upward from the front inlet (212) towards the rear outlet (213) and terminates at the bottom end (213a) of the rear outlet (213). In the vertical section passing through the center line (213c) of the rear outlet (213), the angle (θ) between the line connecting the lowest point of the arc of the inner wall surface (215a) of the bottom wall (215) and the bottom end (213a) of the rear outlet (213) and the horizontal line is less than 5 degrees.

2. The recovery nozzle (20) according to claim 1, characterized in that when the inner wall surface (215a) of the bottom wall (215) is an arc, the angle (θ) between the line connecting the lowest point of the arc of the inner wall surface (215a) of the bottom wall (215) and the bottom end (213a) of the rear outlet (213) and the horizontal line is 2-3 degrees.

3. The recovery nozzle (20) according to claim 1, characterized in that the U-shaped notch (214b) has a front opening (O) and an inner bottom (Bi). The front opening (O) is located at the front inlet (212) of the receiving cavity (211) and communicates with the front inlet (212) of the receiving cavity (211). The inner bottom (Bi) of the U-shaped notch (214b) is located in front of the rear outlet (213) of the receiving cavity (211) and is spaced apart from the rear outlet (213) of the receiving cavity (211).

4. The recovery nozzle (20) according to claim 1, characterized in that In the first horizontal direction (D1) from the front inlet (212) to the rear outlet (213), the distance from the innermost position (Pi) of the inner bottom (Bi) of the U-shaped notch (214b) to the front end face (213d) of the rear outlet (213) is less than the distance from the innermost position (Pi) of the inner bottom (Bi) of the U-shaped notch (214b) to the front inlet (212) of the receiving cavity (211).

5. The recovery nozzle (20) according to claim 1, characterized in that In the vertical direction (D3) perpendicular to the first horizontal direction (D1) from the front inlet (212) to the rear outlet (213), the lowermost position (Pl) of the lower edge (El) of the inner bottom (Bi) of the U-shaped notch (214b) is higher than the center line (212a) of the front inlet (212) of the receiving cavity (211) and higher than the top end (213b) of the rear outlet (213) of the receiving cavity (211).

6. The recovery nozzle (20) according to claim 3, characterized in that The recovery nozzle (20) further includes a material blocking platform (22), and the material blocking platform (22) is arranged at the front inlet (212); The material blocking platform (22) has an upper edge (221) and a lower edge (222), In the vertical direction (D3) perpendicular to the first horizontal direction (D1) from the front inlet (212) to the rear outlet (213), the upper edge (221) and the lower edge (222) face each other, and the upper edge (221) is higher than the bottom edge (212b) of the front inlet (212).

7. The recovery nozzle (20) according to claim 6, characterized in that, The material blocking platform (22) is formed with a recess (224), and the recess (224) is located in front of the front end face (219) of the wall forming the front inlet (212) of the recovery part (21).

8. The recovery nozzle (20) according to claim 6, characterized in that The recovery nozzle (20) further includes a mounting part (23), and the mounting part (23) is fixedly connected to the recovery part (21), The mounting part (23) has a groove (231). Along the first horizontal direction (D1) from the front inlet (212) to the rear outlet (213), the groove (231) communicates with the rear outlet (213) and the cross-sectional area of the groove (231) is larger than the cross-sectional area of the rear outlet (213) to form a step (232) at the connection between the groove (231) and the rear outlet (213).

9. The recovery nozzle (20) according to claim 1, characterized in that The recovery nozzle (20) further includes a mounting part (23), and the mounting part (23) is fixedly connected to the recovery part (21), The mounting part (23) has a mounting surface (233), and the mounting surface (233) is located on one side of the vertical direction (D3) perpendicular to the first horizontal direction (D1) from the front inlet (212) to the rear outlet (213); The mounting surface (233) is located on the upper side of the vertical direction (D3) of the mounting part (23).

10. A suction and recovery mechanism (2), characterized in that, Including a vacuum amplifier (26), a delivery pipe (27), and the recovery nozzle (20) according to any one of claims 1-9, one end of the vacuum amplifier (26) communicates with the rear outlet (213), and the other end of the vacuum amplifier (26) communicates with one end of the delivery pipe (27).

11. A rejection device (100), characterized in that, The rejection device (100) includes: a picking mechanism (1) configured to pick up and release the material (M); a suction recovery mechanism (2) as described in claim 10, the suction recovery mechanism (2) being configured to: when the picking mechanism (1) remains stationary in place after picking up the material (M), the suction recovery mechanism (2) moves relative to the picking mechanism (1) to approach the material (M) picked up by the picking mechanism (1) and suck away the material (M) after receiving the material (M) released by the picking mechanism (1).

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