Grabbing device for logistics sorting

Abstract

The grabbing device for logistics sorting comprises a mechanical arm and a mounting plate, a displacement plate is fixedly arranged at the end of the mechanical arm, fixing plates are arranged at the positions, close to the two sides, of the lower surface of the mounting plate, and mounting openings are formed in the outer walls of the fixing plates; and a telescopic air cylinder is fixedly arranged in the mounting opening, a moving frame is arranged at the telescopic end of the telescopic air cylinder, a push plate is fixedly arranged at the end of the moving frame, a grabbing block is arranged below the mounting plate, and a mounting opening is formed in the outer wall of the grabbing block. According to the device, the bagged packages can be picked up, and the mounting plate can be promoted to move along with the conveying belt on the logistics sorting line under the action of the shifting assembly in the grabbing process, so that the influence of an error existing between the moving speed of the mechanical arm and the moving speed of the conveying belt on grabbing is eliminated; and the grabbing process can be more stable, and the using effect is better.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics sorting, and particularly to a grasping device for logistics sorting. Background Art

[0002] With the rapid development of the e-commerce and logistics industries, the efficiency and accuracy of logistics sorting work are facing increasingly high requirements. In a logistics warehouse, a large number of packages with different shapes, sizes, weights, and textures need to be quickly sorted and classified. The traditional manual sorting method is inefficient and prone to errors. Therefore, automated logistics sorting equipment has gradually become the mainstream. Among them, the grasping device, as a key component of the sorting equipment, has a crucial impact on the performance of the entire logistics sorting system.

[0003] Currently, there are still certain deficiencies in the existing grasping devices for sorting. Most of the grasping devices are made of grippers, which are convenient for grasping carton-like packages, but it is difficult to grasp bag-like packages. Moreover, even if the adsorption grasping method is used to pick up bag-like packages, they are very likely to fall off. Secondly, the logistics packages on the logistics sorting line are always in a moving state, and it is very difficult for the moving speed of the robotic arm used for picking up to be exactly synchronized with the moving speed of the packages. The existing errors greatly affect the grasping stability of the packages. Therefore, there is an urgent need to design a grasping device for logistics sorting to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to solve the defects existing in the prior art, and to propose a grasping device for logistics sorting.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: A grasping device for logistics sorting, including a robotic arm and a mounting plate. A displacement plate is fixedly arranged at the end of the robotic arm. Fixed plates are arranged on both sides near the lower surface of the mounting plate. Mounting openings are formed in the outer walls of the fixed plates, and telescopic cylinders are fixedly arranged in the mounting openings. A moving frame is arranged at the telescopic end of the telescopic cylinder, and a push plate is fixedly arranged at the end of the moving frame. A grasping block is arranged below the mounting plate, and a mounting opening is formed in the outer wall of the grasping block. The push plate is movably arranged in the mounting opening. A rubber sheet is fixedly arranged on the outer wall of the grasping block. The device further includes: A holding component, which is arranged on the mounting plate and is used to apply a constant downward pressure on the package to be grasped by the grasping block; A shifting component, which is arranged below the mounting plate and is used to make the mounting plate move together with the conveyor belt on the logistics sorting line when grasping the package; A connecting component, which is arranged between the displacement plate and the mounting plate and is used to connect the displacement plate and the mounting plate, and enable the mounting plate to move horizontally flexibly below the displacement plate.

[0006] As a further solution of the present invention: the supporting component includes a slide groove opened on the upper surface of the grab block, and a slide plate is slidably arranged in the slide groove, a vertical rod is fixedly arranged on the upper surface of the slide plate, and the vertical rod passes through the mounting plate, a connecting plate is fixedly arranged on the top of the vertical rod, a first spring is sleeved on the outer side of the vertical rod, one end of the first spring is connected to the connecting plate, and the other end of the first spring is connected to the upper surface of the mounting plate, and a trigger switch is also fixedly arranged on the bottom inner wall of the mounting opening.

[0007] As a further solution of the present invention: the shifting assembly includes a telescopic rod, the outer wall of the mounting plate is provided with a mounting hole, and the telescopic rod is movably arranged in the mounting hole, a lifting frame is fixedly arranged at the top of the telescopic rod, a second spring is sleeved on the outer side of the telescopic rod, one end of the second spring is connected to the lower surface of the lifting frame, and the other end of the second spring is connected to the upper surface of the mounting plate, and a downward pressing unit is also arranged at the bottom end of the telescopic rod.

[0008] As a further solution of the present invention: the pressing unit includes a screw rod, a thread groove is opened at the bottom end of the telescopic rod, and the screw rod thread is arranged in the thread groove, a backing plate is fixedly arranged at the bottom end of the screw rod, and a rubber pad is fixedly arranged on the lower surface of the backing plate.

[0009] As a further solution of the present invention: the connecting assembly includes a vertical plate, which is fixedly arranged on the lower surface of the displacement plate near the two sides, a cross bar is fixedly arranged between adjacent vertical plates, and a sliding block is slidably arranged on the outer side of the cross bar, a third spring is sleeved on the outer side of the cross bar, one end of the third spring is connected to the vertical plate, and the other end of the third spring is connected to the side wall of the sliding block.

[0010] As a further solution of the present invention: a groove is opened on the outer wall of one side of the push plate, and a pressure block is arranged in the groove. A pressure sensor is also arranged in the groove, and the pressure sensor is located between the groove and the pressure block. The pressure block is in contact with the inner wall of one side of the installation port.

[0011] As a further solution of the present invention: the outer wall of the rubber sheet is provided with arc grooves distributed at equal distances, and the outer wall of the rubber sheet is also provided with arc rods distributed at equal distances, the arc grooves and the arc rods are staggered and matched with each other.

[0012] Compared with the prior art, the present invention has the following beneficial effects: A grasping device for logistics sorting provided by the present invention can drive a displacement plate to move towards the conveyor belt on the logistics sorting line through a robotic arm, so that the mounting plate moves to directly above the package to be picked up. And as the mounting plate further moves downward, under the action of the abutting component, the grasping block can apply a certain downward pressure to the package. Then, the telescopic cylinder can be driven to drive the moving frame to move, and the push plate at the end of the moving frame drives the grasping block to move. Since there is a certain frictional force between the rubber sheet on the outer side of the grasping block and the package packaging bag, the outer surface of the package packaging bag can be wrinkled and bulged towards the middle position until it is clamped between the grasping blocks. At this time, the robotic arm drives the displacement plate to rise, and the clamped package packaging bag will also rise together, so that the grasping operation of the package can be realized. And in order to prevent the situation that the grasping block cannot be aligned with the package due to the error between the moving speed of the robotic arm and the moving speed of the conveyor belt during the grasping process, during the grasping process, since the connecting component can make the mounting plate move horizontally and flexibly below the displacement plate, under the action of the shifting component, the mounting plate can be promoted to move together with the conveyor belt on the logistics sorting line, so as to eliminate the influence of the error between the moving speed of the robotic arm and the moving speed of the conveyor belt on the grasping, which can make the grasping process more stable and the use effect better. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 FIG. 1 is a schematic structural diagram of a first perspective of a grasping device for logistics sorting provided by an embodiment of the present invention; Figure 2 FIG. 2 is a schematic structural diagram of a first perspective of a mounting plate in a grasping device for logistics sorting provided by an embodiment of the present invention; Figure 3 FIG. 3 is a schematic structural diagram of a second perspective of a mounting plate in a grasping device for logistics sorting provided by an embodiment of the present invention; Figure 4 FIG. 4 is a schematic structural diagram of an abutting component in a grasping device for logistics sorting provided by an embodiment of the present invention; Figure 5 FIG. 5 is a schematic structural diagram of a grasping block in a grasping device for logistics sorting provided by an embodiment of the present invention; Figure 6 FIG. 6 is a schematic structural diagram of a second perspective of a grasping device for logistics sorting provided by an embodiment of the present invention; Figure 7 FIG. 7 is a schematic structural diagram of a third perspective of a grasping device for logistics sorting provided by an embodiment of the present invention.

[0014] In the figure: 101 - robotic arm, 102 - displacement plate, 103 - mounting plate, 104 - fixing plate, 105 - telescopic cylinder, 107 - moving frame, 108 - gripping block, 109 - mounting opening, 110 - pushing plate, 111 - rubber sheet, 201 - sliding groove, 202 - sliding plate, 203 - vertical rod, 204 - connecting plate, 205 - first spring, 206 - trigger switch, 301 - telescopic rod, 302 - lifting frame, 303 - second spring, 304 - screw rod, 305 - pressing plate, 306 - rubber pad, 401 - vertical plate, 402 - cross bar, 403 - sliding block, 404 - support rod, 405 - third spring, 406 - roller, 501 - pressure sensor, 502 - pressing block, 601 - arc groove, 602 - arc rod. Detailed implementation manner

[0015] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0016] As Figures 1-7 shown, a gripping device for logistics sorting provided by an embodiment of the present invention includes a robotic arm 101 and a mounting plate 103. A displacement plate 102 is fixedly provided at the end of the robotic arm 101. Fixing plates 104 are provided on both sides of the lower surface of the mounting plate 103 near the two sides. Mounting openings 109 are formed on the outer walls of the fixing plates 104, and a telescopic cylinder 105 is fixedly provided in the mounting openings 109. A moving frame 107 is provided at the telescopic end of the telescopic cylinder 105, and a pushing plate 110 is fixedly provided at the end of the moving frame 107. A gripping block 108 is provided below the mounting plate 103, and a mounting opening 109 is formed on the outer wall of the gripping block 108. The pushing plate 110 is movably arranged in the mounting opening 109. A rubber sheet 111 is fixedly provided on the outer wall of the gripping block 108. It further includes: a holding component, which is arranged on the mounting plate 103 and is used to apply a constant downward pressure on the package to be gripped by the gripping block 108; a shifting component, which is arranged below the mounting plate 103 and is used to cause the mounting plate 103 to move along with the conveyor belt on the logistics sorting line when gripping the package; a connecting component, which is arranged between the displacement plate 102 and the mounting plate 103 and is used to connect the displacement plate 102 and the mounting plate 103 and enable the mounting plate 103 to move horizontally and flexibly below the displacement plate 102.

[0017] The robotic arm 101 can drive the displacement plate 102 to move towards the conveyor belt on the logistics sorting line, so that the mounting plate 103 moves directly above the package to be picked up. And as the mounting plate 103 further moves downward, under the action of the abutting component, the gripping block 108 can apply a certain downward pressure to the package. Then, the telescopic cylinder 105 can be used to drive the moving frame 107 to move. The push plate 110 at the end of the moving frame 107 drives the gripping block 108 to move. Since there is a certain frictional force between the rubber sheet 111 on the outer side of the gripping block 108 and the package packaging bag, the outer surface of the package packaging bag can be wrinkled and bulged towards the middle position until it is clamped between the gripping blocks 108. At this time, the robotic arm 101 drives the displacement plate 102 to rise, and the clamped package packaging bag will also rise together, so that the grasping operation of the package can be realized. And in order to prevent the situation that the gripping block 108 cannot align with the package due to the error between the moving speed of the robotic arm 101 and the moving speed of the conveyor belt during the grasping process, during the grasping process, since the connecting component can make the mounting plate 103 move horizontally flexibly below the displacement plate 102, under the action of the shifting component, the mounting plate 103 can be prompted to move together with the conveyor belt on the logistics sorting line to eliminate the influence of the error between the moving speed of the robotic arm 101 and the moving speed of the conveyor belt on the grasping, which can make the grasping process more stable and the use effect better.

[0018] As an embodiment of the present invention, please refer to Figure 2 、 Figure 3 、 Figure 4 and Figure 5 ,The abutting component includes a chute 201 opened on the upper surface of the gripping block 108, and a sliding plate 202 is slidably arranged in the chute 201. A vertical rod 203 is fixedly arranged on the upper surface of the sliding plate 202, and the vertical rod 203 penetrates through the mounting plate 103. A connecting plate 204 is fixedly arranged at the top end of the vertical rod 203. A first spring 205 is sleeved on the outer side of the vertical rod 203. One end of the first spring 205 is connected to the connecting plate 204, and the other end of the first spring 205 is connected to the upper surface of the mounting plate 103. A trigger switch 206 is also fixedly arranged on the bottom inner wall of the mounting opening 109. When the mounting plate 103 moves downward so that the gripping block 108 contacts the package packaging bag, as the mounting plate 103 further moves downward, the first spring 205 on the outer side of the vertical rod 203 will be stretched, and the gripping block 108 will move upward relative to the push plate 110 until the push plate 110 contacts the trigger switch 206, which can prompt the mounting plate 103 to stop moving. At this time, the gripping block 108 just applies an appropriate downward pressure to the package to ensure that when the gripping block 108 moves horizontally, the package packaging bag can be wrinkled and bulged better, and the use effect is better.

[0019] As an embodiment of the present invention, please refer to Figure 2, the displacement component includes a telescopic rod 301. An installation hole is formed in the outer wall of the mounting plate 103, and the telescopic rod 301 is movably arranged in the installation hole. A lifting frame 302 is fixedly arranged at the top end of the telescopic rod 301. A second spring 303 is sleeved outside the telescopic rod 301. One end of the second spring 303 is connected to the lower surface of the lifting frame 302, and the other end of the second spring 303 is connected to the upper surface of the mounting plate 103. A pressing unit is further arranged at the bottom end of the telescopic rod 301. When the mounting plate 103 moves downward, the pressing unit at the bottom end of the telescopic rod 301 will contact the conveyor belt on the logistics sorting line before the gripping block 108 contacts the package, and the second spring 303 outside the telescopic rod 301 will be stretched, prompting the pressing unit to apply a certain downward pressure on the conveyor belt on the logistics sorting line. And due to the action of the connection component, the mounting plate 103 can move horizontally flexibly below the displacement plate 102. At this time, due to the friction between the pressing unit and the conveyor belt on the logistics sorting line, the mounting plate 103 can be driven to move together with the conveyor belt, so as to eliminate the influence caused by the error in the moving speed between the robotic arm 101 and the conveyor belt, and make the gripping block 108 more stable during the process of gripping the package, with better use effect.

[0020] As an embodiment of the present invention, please refer to Figure 2 , the pressing unit includes a screw rod 304. A threaded groove is formed at the bottom end of the telescopic rod 301, and the screw rod 304 is threadedly arranged in the threaded groove. A pressing plate 305 is fixedly arranged at the bottom end of the screw rod 304, and a rubber pad 306 is fixedly arranged on the lower surface of the pressing plate 305. By rotating the screw rod 304 in the telescopic rod 301, the initial position of the pressing plate 305 can be adjusted according to the thickness of the target package, so as to ensure that the pressing plate 305 contacts the conveyor belt on the logistics sorting line before the gripping block 108 contacts the package, making the use more flexible.

[0021] As an embodiment of the present invention, please refer to Figure 1 and Figure 7 , the connection component includes a vertical plate 401. The vertical plate 401 is fixedly arranged at positions near both sides of the lower surface of the displacement plate 102. A cross bar 402 is fixedly arranged between adjacent vertical plates 401, and a sliding block 403 is slidably arranged outside the cross bar 402. A third spring 405 is sleeved outside the cross bar 402. One end of the third spring 405 is connected to the vertical plate 401, and the other end of the third spring 405 is connected to the side wall of the sliding block 403. When the mounting plate 103 moves synchronously with the conveyor belt on the logistics sorting line, the sliding block 403 will move on the cross bar 402, and the third spring 405 will be compressed or stretched, facilitating the timely adjustment of the robotic arm 101 to keep up with the moving speed of the mounting plate 103, with better use effect.

[0022] As an embodiment of the present invention, please refer to Figure 5A groove is provided on the outer wall of one side of the push plate 110, and a pressure block 502 is arranged in the groove. A pressure sensor 501 is also arranged in the groove, and the pressure sensor 501 is located between the groove and the pressure block 502. The pressure block 502 fits the inner wall of one side of the mounting port 109. When the grab block 108 clamps the wrapped packaging bag, the pressure block 502 applies pressure to the pressure sensor 501. When the pressure sensor 501 detects that the pressure reaches a fixed value, it can prompt the telescopic cylinder 105 to stop telescoping, ensuring that the clamping force is moderate, effectively avoiding the damage of the wrapped packaging bag caused by excessive force, and having a better use effect.

[0023] As an embodiment of the present invention, please refer to Figure 5 The outer wall of the rubber sheet 111 is provided with arc grooves 601 distributed at equal distances, and the outer wall of the rubber sheet 111 is also provided with arc rods 602 distributed at equal distances. The arc grooves 601 and the arc rods 602 are staggered and matched with each other. When the grab block 108 clamps the wrapped packaging bag, the wrinkled and raised part of the wrapped packaging bag will be clamped between the arc grooves 601 and the arc rods 602, making it more difficult for the wrapped packaging bag to fall off from between the grab block 108, and the use effect is better.

[0024] When in use, the robot arm 101 can drive the displacement plate 102 to move toward the conveyor belt on the logistics sorting line, so that the mounting plate 103 moves to the top of the package to be picked up, and as the mounting plate 103 moves further downward, the grab block 108 can exert a certain downward pressure on the package under the action of the abutment component, and then the mobile frame 107 can be driven to move by the telescopic cylinder 105, and the push plate 110 at the end of the mobile frame 107 drives the grab block 108 to move. Since there is a certain friction between the rubber sheet 111 on the outside of the grab block 108 and the package bag, the outer surface of the package bag can be wrinkled and bulged toward the middle position until it is clamped between the grab blocks 108. At this time, the robot arm 1 01 then drives the displacement plate 102 to rise, and the clamped package packaging bag will also rise together, so that the package can be grabbed. In order to prevent the error between the moving speed of the robot arm 101 and the moving speed of the conveyor belt during the grabbing process, which causes the grabbing block 108 to be unable to align with the package, during the grabbing process, the connecting component can make the mounting plate 103 move flexibly laterally under the displacement plate 102. Under the action of the shifting component, the mounting plate 103 can be prompted to move with the conveyor belt on the logistics sorting line, so as to eliminate the influence of the error between the moving speed of the robot arm 101 and the moving speed of the conveyor belt on the grabbing, so as to make the grabbing process more stable and the use effect better.

[0025] It should be specifically noted that although this specification is described according to the implementation manners, not every implementation manner only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation manners that can be understood by those skilled in the art.

Claims

1. A grabbing device for logistics sorting, comprising a mechanical arm and a mounting plate, characterized in that: A displacement plate is fixedly arranged at the end of the mechanical arm, and a fixing plate is arranged at the position near both sides of the lower surface of the mounting plate, and a mounting opening is provided on the outer wall of the fixing plate, and a telescopic cylinder is fixedly arranged in the mounting opening, and a moving frame is provided at the telescopic end of the telescopic cylinder, and a push plate is fixedly arranged at the end of the moving frame, a grab block is arranged below the mounting plate, and a mounting opening is provided on the outer wall of the grab block, and the push plate is movably arranged in the mounting opening, and a rubber sheet is fixedly arranged on the outer wall of the grab block, and further comprising: A holding component, the holding component is disposed on the mounting plate and is used to cause the grab block to apply a constant downward pressure on the package to be grabbed; A shifting assembly, which is disposed below the mounting plate and is used to cause the mounting plate to move along with the conveyor belt on the logistics sorting line when grabbing a package; The connecting component is arranged between the displacement plate and the mounting plate, and is used to connect the displacement plate and the mounting plate, and enable the mounting plate to move flexibly laterally below the displacement plate.

2. A grabbing device for logistics sorting according to claim 1, characterized in that: The supporting assembly includes a slide groove opened on the upper surface of the grab block, and a slide plate is slidably arranged in the slide groove, a vertical rod is fixedly arranged on the upper surface of the slide plate, and the vertical rod passes through the mounting plate, a connecting plate is fixedly arranged on the top of the vertical rod, a first spring is sleeved on the outer side of the vertical rod, one end of the first spring is connected to the connecting plate, and the other end of the first spring is connected to the upper surface of the mounting plate, and a trigger switch is also fixedly arranged on the bottom inner wall of the mounting opening.

3. A grabbing device for logistics sorting according to claim 2, characterized in that: The shift assembly includes a telescopic rod, an outer wall of the mounting plate is provided with a mounting hole, and the telescopic rod is movably arranged in the mounting hole, a lifting frame is fixedly arranged on the top of the telescopic rod, a second spring is sleeved on the outer side of the telescopic rod, one end of the second spring is connected to the lower surface of the lifting frame, and the other end of the second spring is connected to the upper surface of the mounting plate, and a downward pressing unit is also arranged at the bottom end of the telescopic rod.

4. A grabbing device for logistics sorting according to claim 3, characterized in that: The pressing unit comprises a screw rod, a thread groove is formed at the bottom end of the telescopic rod, and the screw rod thread is arranged in the thread groove, a stop plate is fixedly arranged at the bottom end of the screw rod, and a rubber pad is fixedly arranged on the lower surface of the stop plate.

5. A grabbing device for logistics sorting according to claim 4, characterized in that: The connecting assembly includes a vertical plate, which is fixedly arranged on the lower surface of the displacement plate near both sides, a cross bar is fixedly arranged between adjacent vertical plates, and a sliding block is slidably arranged on the outer side of the cross bar, a third spring is sleeved on the outer side of the cross bar, one end of the third spring is connected to the vertical plate, and the other end of the third spring is connected to the side wall of the sliding block.

6. A grabbing device for logistics sorting according to claim 1, characterized in that: A groove is provided on the outer wall of one side of the push plate, and a pressure block is arranged in the groove. A pressure sensor is also arranged in the groove, and the pressure sensor is located between the groove and the pressure block. The pressure block is in contact with the inner wall of one side of the installation port.

7. A grabbing device for logistics sorting according to claim 1, characterized in that: The outer wall of the rubber sheet is provided with arc grooves distributed at equal distances, and the outer wall of the rubber sheet is also provided with arc rods distributed at equal distances, the arc grooves and the arc rods are staggered and matched with each other.

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