A cargo grabbing and handling device

Abstract

This application provides a goods grasping and handling device, which includes a frame, a moving mechanism, an adsorption mechanism, and a support mechanism. The moving mechanism is installed on the frame; the adsorption mechanism is installed on the moving mechanism and performs multi-axis movement driven by the moving mechanism; the adsorption mechanism is installed on the moving mechanism. The support assembly includes a support arm and a driving member. The support arm is swingably connected to the moving mechanism; the driving member is connected to the support arm and drives the support arm to swing relative to the object to be handled, and supports the object to be handled adsorbed by the adsorption mechanism. During the handling process of the object to be handled, the adsorption mechanism adsorbs the upper surface of the object to be handled under negative pressure, the support arm swings towards the lower surface of the object to be handled driven by the driving member, and the adsorption mechanism and the support arm act on the object to be handled at the same time, so that the bottom of the object to be handled is supported, avoiding the object to be handled being in a suspended state, preventing the object to be handled from falling from top to bottom, and ensuring the safety of the object to be handled during the use of the goods grasping and handling device.

Description

Technical Field

[0001] The present application relates to the technical field of handling equipment, and particularly relates to a cargo grasping and handling equipment. Background Art

[0002] With the development of technology, handling equipment is used to transfer goods from one work station to another. In the fields of industrial construction, chemical engineering, food, etc., finished products are often packaged in bags, and the bagged finished products are loaded onto vehicles.

[0003] In the prior art, when loading onto a vehicle and transferring to the loading work station, the opening of the loading vehicle is facing upwards. The existing cargo grasping and handling equipment includes a frame, a moving mechanism, and an adsorption mechanism. The adsorption mechanism is arranged above the work station to be handled. The moving mechanism is connected to the frame, and the adsorption mechanism is connected to the moving mechanism. The adsorption mechanism is driven by the moving mechanism to transfer its position. When the adsorption mechanism is transferred to the work station to be handled, the adsorption mechanism faces the object to be handled for adsorption and transfers the object to be handled into the vehicle. At this time, the object to be handled is placed into the vehicle from top to bottom. During the adsorption process, the object to be handled is in a suspended state and stays in the air. The bottom of the object to be handled is not supported, resulting in the object to be handled being likely to fall downward from the existing adsorption mechanism, thereby leading to insufficient safety during the use of the existing cargo grasping and handling equipment for the object to be handled. Summary of the Invention

[0004] The purpose of the present invention is to provide a cargo grasping and handling equipment to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A cargo grasping and handling equipment, comprising:

[0007] A frame;

[0008] A moving mechanism, installed on the frame;

[0009] An adsorption mechanism, arranged on one side of the moving mechanism, installed on the moving mechanism, and performing multi-axis movement driven by the moving mechanism; the adsorption mechanism is used for adsorbing the object to be handled;

[0010] A support mechanism, arranged on one side of the adsorption mechanism and installed on the moving mechanism. The support assembly includes a support arm and a driving member. The support arm is swingably connected to the moving mechanism; the driving member is connected to the support arm and drives the support arm to swing relative to the object to be handled and clamp the object to be handled adsorbed by the adsorption mechanism.

[0011] Optionally, there are multiple support mechanisms, and the multiple support mechanisms are oppositely arranged outside the adsorption mechanism. The multiple support arms open and close relative to each other and swing towards the adsorption mechanism.

[0012] Optionally, during the closing process of the multiple support arms relative to the adsorption mechanism, the multiple support arms support the lower surface of the object to be carried.

[0013] The adsorption mechanism includes a connection seat and a sealing buffer member; the sealing buffer member is connected to the connection seat, the connection seat is connected with an adsorbent, and the adsorbent adsorbs the object to be carried under negative pressure. At this time, the sealing buffer member is in sealed contact with the upper surface of the object to be carried.

[0014] Optionally, the sealing buffer member is detachably connected to the connection seat; the connection seat includes a connection seat main body and a buckle seat, and the buckle seat is connected to the connection seat main body; the sealing buffer member is arranged on one side of the connection seat, the sealing buffer member includes a sealing buffer member main body and a dial, the dial is swingably connected to the sealing buffer member main body, and buckles or disengages from the buckle seat during the swinging process; when the dial disengages from the buckle seat under an external force, the sealing buffer member disengages from the connection seat along with the dial disengaging from the buckle seat. Optionally, a connecting member is provided between the driving member and the support arm, the connecting member is sleeved on the support arm, and the connecting member is connected to the output end of the driving member, and the output end of the driving member drives the connecting member to swing.

[0015] Optionally, the support arm includes a first swinging portion and a first clamping portion, the first swinging portion is swingably connected to the moving mechanism; the first clamping portion swings along with the swinging of the first swinging portion and is used for clamping the object to be clamped.

[0016] Optionally, there is an included angle between the first swinging portion and the first clamping portion, the first clamping portion is swingably connected to the first swinging portion, and an elastic member is connected between the first clamping portion and the first swinging portion.

[0017] Optionally, the first clamping portion includes a first bent portion and a second bent portion, there is an included angle between the first bent portion and the second bent portion, and one end of the first bent portion is hinged to the first swinging portion and swings relative to the first swinging portion.

[0018] Optionally, the moving mechanism is provided with a bracket; the bracket is provided with a receiving groove; the support assembly is arranged on one side of the bracket; the support arm is swingably connected to the bracket; the driving member is connected to the support arm and drives the support arm to swing relative to the bracket so that the support arm is received in the receiving groove.

[0019] Optionally, the moving component includes an X-axis moving module, a rotating module, and a Z-axis lifting module. The X-axis moving module is installed on the frame, the rotating module is installed on the X-axis moving seat, the Z-axis lifting module is installed on the rotating module, the Z-axis lifting module is connected to the adsorption mechanism, and is driven by the rotating module and the X-axis moving module to rotate in the circumferential direction and move in the X-axis direction.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] The present invention provides a goods grasping and handling device. A moving mechanism is installed on a frame; an adsorption mechanism is arranged on one side of the moving mechanism, installed on the moving mechanism, and performs multi-axis movement driven by the moving mechanism; the adsorption mechanism is used for adsorbing an object to be handled; a support mechanism is arranged on one side of the adsorption mechanism and installed on the moving mechanism. The support assembly includes a support arm and a driving member. The support arm is swingably connected to the moving mechanism; the driving member is connected to the support arm and drives the support arm to swing relative to the object to be handled, and supports the object to be handled adsorbed by the adsorption mechanism. At this time, during the handling process of the object to be handled, the adsorption mechanism adsorbs the upper surface of the object to be handled under negative pressure, the support arm swings towards the lower surface of the object to be handled driven by the driving member, and the adsorption mechanism and the support arm act on the object to be handled simultaneously, so that the bottom of the object to be handled is supported, avoiding the object to be handled from being in a suspended state, preventing the object to be handled from falling from top to bottom, and ensuring the safety of the object to be handled during the use of the goods grasping and handling device. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] In order to more completely understand the present application and its beneficial effects, the following will be described in conjunction with the drawings. Among them, the same reference numerals in the following description represent the same parts.

[0024] Figure 1 It is a schematic diagram of the goods grasping and handling device provided by the embodiment of the present application.

[0025] Figure 2 It is a schematic diagram of the interior of the goods grasping and handling device provided by the embodiment of the present application.

[0026] Figure 3 It is a schematic diagram of a part of the goods grasping and handling device provided by the embodiment of the present application.

[0027] Figure 4For Figure 3 Partial enlarged view in the A direction in

[0028] Figure 5 For Figure 3 Partial enlarged view in the B direction in

[0029] Figure 6 Schematic diagram of the support mechanism of the goods grasping and handling device provided by the embodiment of the present application.

[0030] Figure 7 Schematic diagram of the adsorption mechanism of the goods grasping and handling device provided by the embodiment of the present application.

[0031] Figure 8 Schematic diagram of the X-axis movement module of the goods grasping and handling device provided by the embodiment of the present application.

[0032] Figure 9 Schematic diagram of the rotation module of the goods grasping and handling device provided by the embodiment of the present application.

[0033] Figure 10 Schematic diagram of the Z-axis movement module of the goods grasping and handling device provided by the embodiment of the present application Specific implementation manner

[0034] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0035] Please refer to the attached Figures 1 to 10 , the embodiment of the present application provides a goods grasping and handling device 100, and the goods grasping and handling device 100 is used to transfer goods from one station to another station. The goods grasping and handling device 100 includes a frame 10, a moving mechanism 40, an adsorption mechanism 30, and a support mechanism 20.

[0036] The frame 10, as the support component of the goods grasping and handling device 100, is used to support the moving mechanism 40, the adsorption mechanism 30, and the support mechanism 20. Optionally, the frame 10 is rectangular.

[0037] The support mechanism 20 is arranged on one side of the adsorption mechanism 30 and is installed on the moving mechanism 40. The support mechanism 20 includes a support arm 21 and a driving member 22. The support arm 21 is swingably connected to the moving mechanism 40; the driving member 22 is connected to the support arm 21 and drives the support arm 21 to swing relative to the object to be transported, and supports the bottom of the object to be transported adsorbed by the adsorption mechanism 30.

[0038] At this time, during the handling of the object to be handled, the adsorption mechanism 30 adsorbs the upper surface of the object to be handled under negative pressure, and the support arm 21 swings towards the lower surface of the object to be handled driven by the driving member 22. The adsorption mechanism 30 and the support arm 21 act on the object to be handled simultaneously, so that the bottom of the object to be handled is supported, avoiding the object to be handled being in a suspended state, preventing the object to be handled from falling from top to bottom, and ensuring the safety of the object to be handled during the use of the goods grasping and handling device 100.

[0039] There are multiple support mechanisms 20, and the multiple support mechanisms 20 are relatively arranged on the outer side of the adsorption mechanism 30. The multiple support arms 21 open and close relative to each other and swing towards the adsorption mechanism 30.

[0040] At this time, by arranging multiple support mechanisms 20, the support effect of the support mechanisms 20 relative to the object to be handled is increased, and different positions of the object to be handled are supported simultaneously, preventing the object to be handled from falling from top to bottom due to unstable support, and ensuring the safety of the object to be handled during the use of the goods grasping and handling device 100.

[0041] Preferably, there are two support mechanisms 20, and the two support mechanisms 20 are relatively arranged on both sides of the adsorption mechanism 30. The adsorption mechanism 30 is located between the two support mechanisms 20. The distance between the two support mechanisms 20 is greater than the length of the object to be handled, so as to facilitate the two support mechanisms 20 to close towards the object to be handled, thereby facilitating the two support mechanisms 20 to support the bottom of the object to be handled, preventing the object to be handled from falling from top to bottom, and ensuring the safety of the object to be handled during the use of the goods grasping and handling device 100.

[0042] Among them, one support mechanism 20 is arranged on the left side of the adsorption mechanism 30, and the other support mechanism 20 is arranged on the right side of the adsorption mechanism 30, or one support mechanism 20 is arranged on the front side of the adsorption mechanism 30, and the other support mechanism 20 is arranged on the rear side of the adsorption mechanism 30. No specific limitation is made here.

[0043] A connecting member 211 is provided between the driving member 22 and the support arm 21. The connecting member 211 is sleeved on the support arm 21, and the connecting member 211 is connected to the output end of the driving member 22. The output end of the driving member 22 drives the connecting member 211 to swing.

[0044] At this time, the connecting member 211 is sleeved on the support arm 21. The connecting member 211 is connected to the output end of the driving member 22. The output end of the driving member 22 drives the connecting member 211 to swing. During the process of the driving member 22 driving the connecting member 211 to swing upward or downward, there is a certain degree of freedom between the connecting member 211 and the driving member 22, avoiding hard mechanical contact between the connecting member 211 and the driving member 22, reducing the probability of damage to the connecting member 211. The support arm 21 swings along with the swing of the connecting member 211 to facilitate adjusting the position of the support arm 21 relative to the swing frame 4121.

[0045] The connecting member 211 is provided with a keyway 211a, and the support arm 21 is connected with a flat key 212. The flat key 212 is engaged in the keyway 211a, so that the support arm 21 is fixedly connected to the connecting member 211.

[0046] At this time, the flat key 212 is engaged in the keyway 211a. The connection between the connecting member 211 and the support arm 21 is through the cooperation of the flat key 212 and the keyway 211a to facilitate fixing the connecting member 211 to the support arm 21. Among them, the front end and the rear end of the keyway 211a are in a communicating state to facilitate the flat key 212 to be engaged in the keyway 211a or the flat key 212 to be disengaged from the keyway 211a.

[0047] There are multiple keyways 211a, and the multiple keyways 211a are arranged at intervals in the circumferential direction. At this time, the flat key 212 is engaged in any one of the keyways 211a. By arranging multiple keyways 211a, the position of the connecting member 211 relative to the support arm 21 is adjusted, thereby adjusting the angle of the connecting member 211 relative to the support arm 21, and further adjusting the swing distance of the support arm 21 relative to the swing frame 4121. When the connection end between the connecting member 211 and the driving member 22 is lower, the swing distance of the support arm 21 relative to the swing frame 4121 is larger. When the connection end between the connecting member 211 and the driving member 22 is higher, the swing distance of the support arm 21 relative to the swing frame 4121 is smaller.

[0048] The support arm 21 includes a first swing portion 213 and a first clamping portion 214. The first swing portion 213 is swingably connected to the moving mechanism 40; the first clamping portion 214 swings along with the swing of the first swing portion 213 and is used for clamping the object to be carried, so as to adjust the position of the first swing portion 213 relative to the moving mechanism 40, thereby adjusting the position of the first clamping portion 214 relative to the moving mechanism 40, and further facilitating the first clamping portion 214 to face the object to be carried and supporting the bottom of the object to be carried. Optionally, the first clamping portion 214 is in a grid shape.

[0049] There is an included angle between the first swing portion 213 and the first clamping portion 214. The first clamping portion 214 is swingably connected to the first swing portion 213, and an elastic member 2141 is connected between the first clamping portion 214 and the first swing portion 213.

[0050] At this time, there is an included angle between the first swinging part 213 and the first clamping part 214, and the angle of the included angle is greater than 90° and less than 180°. The first clamping part 214 is swingably connected to the first swinging part 213, and an elastic member 2141 is connected between the first clamping part 214 and the first swinging part 213, so that the first clamping part 214 can be reset under the elastic action of the elastic member 2141. Optionally, the elastic member 2141 can be a spring.

[0051] The first clamping part 214 includes a first bent part 2142 and a second bent part 2143. There is an included angle between the first bent part 2142 and the second bent part 2143. One end of the first bent part 2142 is hinged to the first swinging part 213 and swings relative to the first swinging part 213.

[0052] At this time, there is an included angle between the first bent part 2142 and the second bent part 2143, and the angle of the included angle is greater than 90° and less than 180°. One end of the first bent part 2142 is hinged to the first swinging part 213 and swings relative to the first swinging part 213, so that the first clamping part 214 can be folded towards the first swinging part 213, thereby facilitating the reduction of the longitudinal space of the support arm 21.

[0053] The moving mechanism 40 is provided with a bracket 41; the bracket 41 is provided with a receiving groove 41a; the support mechanism 20 is arranged on one side of the bracket 41; the support arm 21 is swingably connected to the bracket 41; the driving member 22 is connected to the support arm 21 and drives the support arm 21 to swing relative to the bracket 41, so that the support arm 21 is received in the receiving groove 41a.

[0054] At this time, the support arm 21 swings under the driving action of the driving member 22 and swings into the receiving groove 41a, so that the support arm 21 can be received in the receiving groove 41a, thereby reducing the longitudinal space of the support arm 21 relative to the bracket 41 and avoiding the support mechanism 20 occupying a large space. Optionally, the driving member 22 can be a cylinder.

[0055] The bracket 41 includes a bracket main body 411 and a receiving frame 412. The receiving frame 412 is arranged on one side of the bracket main body 411 and is installed on the bracket main body 411; the receiving frame 412 is provided with the receiving groove 41a.

[0056] At this time, the bracket main body 411 serves as the support main body of the bracket 41 for supporting the accommodation rack 412. The accommodation rack 412 is arranged on the lower side of the bracket main body 411 and is installed on the bracket main body 411 by bolts. The accommodation rack 412 is provided with an accommodation groove 41a for accommodating the support arm 21, so that the support arm 21 can be accommodated in the accommodation groove 41a, thereby reducing the longitudinal space of the support arm 21 relative to the bracket 41. Optionally, a guide wheel is connected to one side wall of the accommodation rack 412. The guide wheel is rotatably installed on the accommodation rack 412 and guides the support arm 21 into the accommodation groove 41a.

[0057] The accommodation rack 412 is connected with a swing rack 4121. The swing rack 4121 is arranged on one side of the accommodation rack 412 and encloses an accommodation groove 41a with the accommodation rack 412; the support arm 21 is swingably connected to the swing rack 4121.

[0058] At this time, the swing rack 4121 is arranged in the middle of the accommodation rack 412 and encloses an accommodation groove 41a with the accommodation rack 412. The accommodation groove 41a is used for accommodating the support arm 21. The support arm 21 is swingably connected to the swing rack 4121 and swings along the axial direction of the connection between the support arm 21 and the swing rack 4121, so as to facilitate adjusting the position of the support arm 21 relative to the swing rack 4121.

[0059] During the closing process of the plurality of support arms 21 relative to the adsorption mechanism 30, the plurality of support arms 21 support the lower surface of the object to be transported; the adsorption mechanism 30 includes a connection seat 31 and a sealing buffer member 32; the sealing buffer member 32 is connected to the connection seat 31, and the connection seat 31 is connected with an adsorbent. The adsorbent adsorbs the object to be transported under negative pressure. At this time, the sealing buffer member 32 is in sealed contact with the upper surface of the object to be transported.

[0060] Among them, during the transportation of the object to be transported, the adsorption mechanism 30 adsorbs the upper surface of the object to be transported under negative pressure, and the support arm 21 swings towards the lower surface of the object to be transported driven by the driving member 22. Moreover, the adsorption mechanism 30 and the support arm 21 act on the object to be transported simultaneously, so that the bottom of the object to be transported is supported, avoiding the object to be transported being in a suspended state, preventing the object to be transported from falling from top to bottom, and ensuring the safety of the object to be transported during the use of the goods grasping and transporting device 100.

[0061] The adsorption mechanism 30 is arranged on one side of the moving mechanism 40. The adsorption mechanism 30 is installed on the moving mechanism 40 and performs multi-axis movement driven by the moving mechanism 40; the adsorption mechanism 30 is used for adsorbing the object to be transported; at this time, the adsorption mechanism 30 adsorbs the object to be transported under negative pressure, and the object to be transported moves in multiple axes driven by the adsorption mechanism 30 with the moving mechanism 40, so as to facilitate the transfer of the object to be transported from one station to another station, thereby facilitating the position transfer of the object to be transported.

[0062] The sealing buffer member 32 is detachably connected to the connecting seat 31; the connecting seat 31 includes a connecting seat main body 311 and a buckling seat 312, and the buckling seat 312 is connected to the connecting seat main body 311; the sealing buffer member 32 is disposed on one side of the connecting seat 31, and the sealing buffer member 32 includes a sealing buffer member main body 321 and a paddle 322, and the paddle 322 is swingably connected to the sealing buffer member main body 321 and buckles or disengages from the buckling seat 312 during the swinging process; when the paddle 322 disengages from the buckling seat 312 under an external force, the sealing buffer member 32 disengages from the connecting seat 31 as the paddle 322 disengages from the buckling seat 312.

[0063] At this time, the connecting seat 31 and the sealing buffer member 32 are not an integral structure. When the paddle 322 disengages from the buckling seat 312 under an external force, the sealing buffer member 32 disengages from the connecting seat 31 as the paddle 322 disengages from the buckling seat 312, avoiding the inability to disassemble between the sealing buffer member 32 and the connecting seat 31, and improving the replacement convenience of the sealing buffer member 32 of the adsorption mechanism 30.

[0064] The buckling seat 312 includes a first base 3121 and a second base 3122, the second base 3122 is disposed on one side of the first base 3121, and the second base 3122 is rotatably connected to the first base 3121 and rotates along the axial direction of the connection between the second base 3122 and the first base 3121.

[0065] At this time, the second base 3122 is disposed on the upper side of the first base 3121, and the second base 3122 is rotatably connected to the first base 3121 and rotates along the axial direction of the connection between the second base 3122 and the first base 3121, so as to facilitate adjusting the position of the second base 3122 relative to the first base 3121, thereby facilitating the buckling seat 312 to adapt to sealing buffer members 32 of different sizes.

[0066] Wherein, a first rotating shaft is provided between the first base 3121 and the second base 3122, the first rotating shaft is inserted into the first base 3121, and the second base 3122 is rotatably connected to the first rotating shaft and rotates along the axial direction of the first rotating shaft, so as to facilitate adjusting the position of the second base 3122 relative to the first base 3121, thereby facilitating adjusting the angle of the second base 3122 relative to the first base 3121.

[0067] The second base 3122 is connected with a bolt, the second base 3122 and the bolt are screwed together, and the bolt is connected to the first base 3121; when the bolt rotates relative to the second base 3122, the second base 3122 swings relative to the first base 3121 as the bolt rotates.

[0068] At this time, the second base 3122 is screwed to the bolt, and the bolt connects the first base 3121; when the bolt rotates relative to the second base 3122, the second base 3122 swings relative to the first base 3121 as the bolt rotates, so as to adjust the position of the second base 3122 relative to the first base 3121, so that the second base 3122 is fixed relative to the first base 3121 after adjustment. When the bolt rotates leftward under the action of an external force, the bolt moves upward relative to the second base 3122, thereby reducing the inclination of the second base 3122 relative to the first base 3121. When the bolt rotates rightward under the action of an external force, the bolt moves downward relative to the second base 3122, thereby increasing the inclination of the second base 3122 relative to the first base 3121.

[0069] The buckle seat 312 is provided with a first buckling portion 3123, and the dial 322 is provided with a second buckling portion 3221. The first buckling portion 3123 and the second buckling portion 3221 are buckled and connected. At this time, the sealing buffer member 32 approaches the connecting seat 31 in the up-and-down direction and is buckled to the first buckling portion 3123 through the second buckling portion 3221, realizing the buckling of the sealing buffer member 32 and the connecting seat 31, thereby realizing the locking of the sealing buffer member 32 to the connecting seat 31 in the up-and-down direction.

[0070] The first buckling portion 3123 is provided with a first arc surface 31231, and the second buckling portion 3221 is provided with a second arc surface 32211. When the second buckling portion 3221 and the first buckling portion 3123 are buckled to each other, the first arc surface 31231 contacts the second arc surface 32211.

[0071] At this time, the first buckling portion 3123 and the second buckling portion 3221 are in arc surface fit through the first arc surface 31231 and the second arc surface 32211. And when the first buckling portion 3123 and the second buckling portion 3221 are buckled, the second arc surface 32211 contacts the first arc surface 31231 along the arc surface direction. The user touches the dial 322 with one hand and pushes the dial 322 to slide along the extending direction of the first arc surface 31231, so as to facilitate the buckling of the dial 322 to the buckle seat 312, and further realize the connection of the sealing buffer member 32 to the connecting seat 31.

[0072] The first buckling portion 3123 is provided with a third arc surface 31232, and the third arc surface 31232 is arranged on one side of the first arc surface 31231 and guides the second arc surface 32211 to be buckled to the first arc surface 31231.

[0073] At this time, when the first fastening portion 3123 is fastened to the second fastening portion 3221, the second arc surface 32211 of the second fastening portion 3221 approaches the first arc surface 31231 along the third arc surface 31232. The second arc surface 32211 contacts the third arc surface 31232 and slides along the third arc surface 31232 to the first arc surface 31231.

[0074] When the second fastening portion 3221 detaches from the first fastening portion 3123, the second arc surface 32211 contacts the third arc surface 31232 and can slide outward along the third arc surface 31232.

[0075] At this time, the user's single hand contacts the paddle 322, causing the paddle 322 to slide along the arc direction of the first arc surface 31231 and the direction of the third arc surface 31232, so that the second fastening portion 3221 is separated inside the first fastening portion 3123.

[0076] The buckle base 312 is provided with a groove 312a. The paddle 322 is received in the groove 312a. The notch of the groove 312a is located on the outer surface of the connecting seat body 311, making full use of the internal space of the buckle base 312 to facilitate the swinging of the paddle 322 in the groove 312a, thereby increasing the swinging angle of the paddle 322.

[0077] A buffer portion 3211 is provided on the side of the sealing buffer member body 321 facing away from the paddle 322. The buffer portion 3211 is used for flexibly contacting the object to be adsorbed. Among them, the buffer portion 3211 is made of plastic, avoiding hard contact between the buffer portion 3211 and the object to be adsorbed.

[0078] The moving mechanism 40 is installed on the frame 10. The moving assembly includes an X-axis moving module 42, a rotating module 43, and a Z-axis lifting module 44. The X-axis moving module 42 is installed on the frame 10. The rotating module 43 is installed on the X-axis moving seat 421. The Z-axis lifting module 44 is installed on the rotating module 43. The Z-axis lifting module 44 is connected to the adsorption mechanism 30 and rotates circumferentially and moves in the X-axis direction under the drive of the rotating module 43 and the X-axis moving module 42.

[0079] At this time, the goods are located below the adsorption mechanism 30. The adsorption end of the adsorption mechanism 30 faces the goods and adsorbs the outer surface of the goods. And under the drive of the Z-axis lifting module 44, the rotating module 43, and the X-axis moving module 42, it moves up and down in the Z-axis direction, rotates circumferentially, and moves in the X-axis direction. Therefore, the adsorption end of the adsorption mechanism 30 directly acts on the outer surface of the goods in the Z-axis direction, circumferential direction, and X-axis direction, improving the positioning strength of the goods relative to the adsorption mechanism 30, avoiding limited position of the goods during handling, ensuring the stability of the goods during handling, and improving the handling efficiency of the goods grabbing and handling device 100.

[0080] The X-axis moving module 42 is installed on the frame 10. The X-axis moving module 42 is provided with an X-axis moving seat 421, and the X-axis moving seat 421 moves along the X-axis direction. At this time, the X-axis moving module 42 is arranged on the upper side of the frame 10. The X-axis moving module 42 is connected to the frame 10 by bolts. The X-axis moving module 42 is arranged in the horizontal direction. The X-axis moving module 42 is provided with an X-axis moving seat 421, and the X-axis moving seat 421 moves along the X-axis direction. The movement in the X-axis direction can be the left-right movement.

[0081] A guide rail 4211 and a slider 4212 are arranged between the X-axis moving seat 421 and the frame 10. The guide rail 4211 is fixed to the frame 10. The X-axis moving seat 421 is fixed to the slider 4212. The slider 4212 is movably installed on the guide rail 4211. At this time, the guide rail 4211 is fixed to the upper side of the frame 10. The lower end of the X-axis moving seat 421 is fixed to the upper end of the slider 4212. The slider 4212 is movably installed on the guide rail 4211 and is arranged along the length direction of the guide rail 4211. The length direction of the guide rail 4211 is the X-axis direction, so as to facilitate adjusting the position of the slider 4212 relative to the guide rail 4211, and thus adjusting the position of the X-axis moving seat 421 relative to the frame 10.

[0082] There are multiple guide rails 4211. The multiple guide rails 4211 are arranged at intervals along the width direction of the frame 10. At this time, there are two guide rails. The two guide rails 4211 are arranged at intervals along the width direction of the frame 10. By arranging the two guide rails 4211, the moving effect of the X-axis moving seat 421 relative to the frame 10 is increased, so as to improve the smoothness of the movement of the X-axis moving seat 421 relative to the frame 10. Among them, each guide rail 4211 is equipped with two sliders 4212.

[0083] The X-axis moving module 42 is provided with an electric push rod 422. The fixed end of the electric push rod 422 is installed on the frame 10. The output end of the electric push rod 422 is connected to the X-axis moving seat 421 and drives the X-axis moving seat 421 to move along the X-axis direction.

[0084] At this time, the electric push rod 422 is used for linear reciprocating motion. The electric push rod 422 is arranged along the X-axis direction. The fixed end of the electric push rod 422 is installed on the frame 10. The output end of the electric push rod 422 is connected to the X-axis moving seat 421 and drives the X-axis moving seat 421 to move along the X-axis direction. The X-axis moving seat 421 moves left and right along the X-axis direction through the output end of the electric push rod 422. When the output end of the electric push rod 422 extends, it can drive the X-axis moving seat 421 to move to the left direction. When the output end of the electric push rod 422 contracts, it can drive the X-axis moving seat 421 to move to the right direction, so as to facilitate adjusting the position of the X-axis moving seat 421 relative to the frame 10.

[0085] The rotation module 43 is disposed on one side of the X-axis moving module 42 and is mounted on the X-axis moving base 421, and moves along the X-axis direction under the drive of the X-axis moving base 421; at this time, the rotation module 43 is fixed to the X-axis moving base 421 by bolts, and the rotation module 43 moves left and right along the X-axis direction with the X-axis moving base 421, so as to facilitate adjusting the position of the rotation module 43 relative to the frame 10.

[0086] Wherein, the X-axis moving base 421 is provided with a U-shaped groove 421a, the notch of the U-shaped groove 421a is located at the right end junction of the X-axis moving base 421, and the rotation module 43 is received in the U-shaped groove 421a, so as to improve the space utilization rate of the rotation module 43.

[0087] The rotation module 43 includes a motor 431 and a hollow rotary platform 432, the motor 431 is electrically connected to the hollow rotary platform 432, the fixed end of the hollow rotary platform 432 is connected to the X-axis moving base 421, and the rotating end of the hollow rotary platform 432 is connected to the Z-axis lifting module 44 and drives the Z-axis lifting module 44 to rotate in the circumferential direction.

[0088] At this time, the motor 431 is disposed on the upper side of the hollow rotary platform 432, the motor 431 and the hollow rotary platform 432 are arranged vertically, the motor 431 is electrically connected to the hollow rotary platform 432, the fixed end of the hollow rotary platform 432 is fixed to the X-axis moving base 421 by bolts, and the rotating end of the hollow rotary platform 432 is connected to the Z-axis lifting module 44 and drives the Z-axis lifting module 44 to rotate in the circumferential direction, so that the Z-axis lifting module 44 can move simultaneously in the X-axis direction and the circumferential direction.

[0089] The Z-axis lifting module 44 is disposed on one side of the rotation module 43, the Z-axis lifting module 44 is mounted on the rotation module 43, and rotates in the circumferential direction and moves in the X-axis direction under the drive of the rotation module 43 and the X-axis moving module 42;

[0090] At this time, the Z-axis lifting module 44 is mounted on the rotation module 43, and the Z-axis lifting module 44 rotates with the rotation module 43 in the circumferential direction, so that the Z-axis lifting module 44 can move simultaneously in the X-axis direction and the circumferential direction, thereby facilitating adjusting the position of the Z-axis lifting module 44 relative to the frame 10.

[0091] A flange 441 is provided between the hollow rotary platform 432 and the Z-axis lifting module 44, one end of the flange 441 is connected to the hollow rotary platform 432, the other end of the flange 441 is connected to the Z-axis lifting module 44, and the flange 441 rotates with the rotation of the hollow rotary platform 432 and drives the Z-axis lifting module 44 to rotate.

[0092] At this time, one end of the flange 441 is adapted to the connection part between it and the hollow rotary platform 432, so that one end of the flange 441 and the hollow rotary platform 432 can be connected by bolts. The other end of the flange 441 is adapted to the connection part between it and the Z-axis lifting module 44, so that the other end of the flange 441 and the Z-axis lifting module 44 can be connected by bolts. Thus, it is convenient to fix the Z-axis lifting module 44 to the hollow rotary platform 432. The flange 441 rotates as the hollow rotary platform 432 rotates and drives the Z-axis lifting module 44 to rotate, so that the Z-axis lifting module 44 and the flange 441 can move simultaneously in the X-axis direction and the circumferential direction.

[0093] The Z-axis lifting module 44 includes an electric cylinder 442 and a Z-axis lifting seat 443. The Z-axis lifting seat 443 is connected to the adsorption mechanism 30. The fixed end of the electric cylinder 442 is connected to the flange 441, and the output end of the electric cylinder 442 is connected to the Z-axis lifting seat 443 and drives the Z-axis lifting seat 443 to lift along the Z-axis direction. The adsorption mechanism 30 lifts as the Z-axis lifting seat 443 lifts along the Z-axis direction.

[0094] At this time, the electric cylinder 442 passes through the U-shaped groove 421a of the X-axis moving seat 421. The fixed end of the electric cylinder 442 is connected to the flange 441, and the output end of the electric cylinder 442 is connected to the Z-axis lifting seat 443 and drives the Z-axis lifting seat 443 to lift along the Z-axis direction. The Z-axis lifting seat 443 moves up and down along the Z-axis direction under the action of the electric cylinder 442, so as to adjust the position of the Z-axis lifting seat 443 relative to the frame 10. The Z-axis lifting seat 443 is connected to the adsorption mechanism 30, and the adsorption mechanism 30 lifts as the Z-axis lifting seat 443 lifts along the Z-axis direction, so as to adjust the position of the adsorption mechanism 30 relative to the frame 10.

[0095] The Z-axis lifting module 44 is provided with a guide shaft 444 and a linear bearing 445. The linear bearing 445 is connected to the flange 441, the guide shaft 444 is connected to the Z-axis lifting seat 443, and the guide shaft 444 is liftably inserted into the linear bearing 445. The guide shaft 444 lifts as the Z-axis lifting seat 443 lifts.

[0096] At this time, the linear bearing 445 is connected to the flange 441. The flange 441 is provided with a bearing hole. The linear bearing 445 is inserted into the bearing hole and is fixed. The guide shaft 444 is connected to the Z-axis lifting seat 443, and the guide shaft 444 is liftably inserted into the linear bearing 445. The guide shaft 444 lifts as the Z-axis lifting seat 443 lifts. The Z-axis lifting seat 443 lifts under the guiding action of the guide shaft 444, so as to improve the smoothness of the lifting of the Z-axis lifting seat 443.

[0097] There are multiple guide shafts 444. The multiple guide shafts 444 enclose a square, and the lifting effect of the Z-axis lifting seat 443 is increased by arranging multiple guide shafts 444.

[0098] The Z-axis lifting module 44 is provided with a connecting block 446. The two guide shafts 444 are respectively connected to both ends of the connecting block 446. The connecting block 446 rises and falls along with the up-and-down movement of the two guide shafts 444, avoiding the deformation of the guide shafts 444 after long-term use and improving the service life of the guide shafts 444.

[0099] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0100] The present invention provides a goods grasping and handling device 100. The moving mechanism 40 is installed on the frame 10; the adsorption mechanism 30 is arranged on one side of the moving mechanism 40, and the adsorption mechanism 30 is installed on the moving mechanism 40 and performs multi-axis movement driven by the moving mechanism 40; the adsorption mechanism 30 is used for adsorbing the object to be transported; the support mechanism 20 is arranged on one side of the adsorption mechanism 30 and installed on the moving mechanism 40. The support mechanism 20 includes a support arm 21 and a driving member 22. The support arm 21 is swingably connected to the moving mechanism 40; the driving member 22 is connected to the support arm 21 and drives the support arm 21 to swing relative to the object to be transported and clamp the object to be transported adsorbed by the adsorption mechanism 30. At this time, during the transportation of the object to be transported, the adsorption mechanism 30 adsorbs the upper surface of the object to be transported under negative pressure, the support arm 21 swings towards the lower surface of the object to be transported driven by the driving member 22, and the adsorption mechanism 30 and the support arm 21 act on the object to be transported simultaneously, so that the bottom of the object to be transported is supported, avoiding the object to be transported being in a suspended state, preventing the object to be transported from falling from top to bottom, and ensuring the safety of the object to be transported during the use of the goods grasping and handling device 100.

[0101] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0102] In the description of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features.

[0103] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A cargo grasping and handling device, characterized in that, Comprising: Frame; Moving mechanism, mounted on the frame; Adsorption mechanism, disposed on one side of the moving mechanism, the adsorption mechanism is mounted on the moving mechanism and performs multi-axis movement driven by the moving mechanism; the adsorption mechanism is used for adsorbing the object to be transported; Support mechanism, disposed on one side of the adsorption mechanism and mounted on the moving mechanism, the support mechanism includes a support arm and a driving member, and the support arm is swingably connected to the moving mechanism; The driving member is connected to the support arm and drives the support arm to swing relative to the object to be transported, and supports the object to be transported adsorbed by the adsorption mechanism; A connecting member is provided between the driving member and the support arm, the connecting member is sleeved on the support arm, the connecting member is connected to the output end of the driving member, and the output end of the driving member drives the connecting member to swing; The support arm includes a first swing portion and a first clamping portion, the first swing portion is swingably connected to the moving mechanism; the first clamping portion swings with the swing of the first swing portion and is used for supporting the bottom of the object to be clamped; An included angle is formed between the first swing portion and the first clamping portion, the first clamping portion is swingably connected to the first swing portion, and an elastic member is connected between the first clamping portion and the first swing portion; The connecting member is provided with key grooves, the support arm is connected with a flat key, and the flat key is engaged in the key grooves; there are multiple key grooves, and the multiple key grooves are arranged at intervals in the circumferential direction.

2. The goods grasping and handling device according to claim 1, characterized in that, There are multiple support mechanisms, and the multiple support mechanisms are oppositely arranged outside the adsorption mechanism, and the multiple support arms are opened and closed relative to each other and swing towards the adsorption mechanism.

3. The goods grabbing and handling device according to claim 2, characterized in that, During the closing process of the multiple support arms relative to the adsorption mechanism, the multiple support arms support the lower surface of the object to be transported; The adsorption mechanism includes a connection seat and a sealing buffer member; the sealing buffer member is connected to the connection seat, the connection seat is connected with an adsorbent, and the adsorbent adsorbs the object to be transported under negative pressure. At this time, the sealing buffer member is in sealed contact with the upper surface of the object to be transported.

4. A goods grasping and handling device according to claim 3, characterized in that, The sealing buffer member is detachably connected to the connection seat; the connection seat includes a connection seat main body and a buckle seat, and the buckle seat is connected to the connection seat main body; the sealing buffer member is disposed on one side of the connection seat, the sealing buffer member includes a sealing buffer member main body and a dial, the dial is swingably connected to the sealing buffer member main body and buckles or disengages from the buckle seat during the swinging process; when the dial is disengaged from the buckle seat under an external force, the sealing buffer member is disengaged from the connection seat as the dial is disengaged from the buckle seat.

5. A goods grabbing and handling device according to claim 4, characterized in that, The first clamping portion includes a first bent portion and a second bent portion, an included angle is formed between the first bent portion and the second bent portion, and one end of the first bent portion is hinged to the first swing portion and swings relative to the first swing portion.

6. A goods grabbing and handling device according to any one of claims 1 to 4, characterized in that The moving mechanism is provided with a bracket; the bracket is provided with a receiving groove; the support assembly is disposed on one side of the bracket; the support arm is swingably connected to the bracket; The driving member is connected to the support arm and drives the support arm to swing relative to the bracket, so that the support arm is received in the receiving groove.

7. A cargo grabbing and handling device according to claim 1, characterized in that, The moving mechanism includes an X-axis moving module, a rotating module, and a Z-axis lifting module. The X-axis moving module is installed on the frame, the rotating module is installed on the X-axis moving seat, the Z-axis lifting module is installed on the rotating module, and the Z-axis lifting module is connected to the adsorption mechanism and rotates circumferentially and moves in the X-axis direction under the drive of the rotating module and the X-axis moving module.

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