Rail type storage robot applied to intelligent logistics

Abstract

The invention relates to the technical field of robots, in particular to a rail type storage robot applied to intelligent logistics, which comprises a rail robot, a vacuum chuck is mounted on an end effector of the rail robot, and an auxiliary adsorption assembly and an extrusion assembly are arranged in the vacuum chuck. When an upper annular block moves upwards, the sealing state of a second communication opening is relieved, at the moment, a vacuum suction cup with the interior in a negative pressure state can extract gas in a third annular groove, and gas in a sealing cavity sequentially penetrates through a first communication opening, the second annular groove, the third annular groove and the second communication opening to flow into the vacuum suction cup; and the annular plate drives the lifting plate to move downwards in the first groove, so that the auxiliary suction cup slides to the goods and is adsorbed to the surface of the goods for grabbing, and the auxiliary suction cup is matched with the vacuum suction cup to transfer the goods.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an orbital warehousing robot applied to intelligent logistics. Background Art

[0002] Intelligent warehousing has emerged with the emergence of material storage and has developed with the development of productivity. Warehousing is one of the important links in commodity circulation and also an important pillar of logistics activities. Warehousing is the temporary storage of products and items due to order preposition or market forecast preposition during the production and circulation processes of products. It is a comprehensive place that centrally reflects the material activities of a factory and is a transfer station connecting production, supply, and sales, playing an important auxiliary role in promoting production efficiency improvement.

[0003] Robots are used during the handling, sorting, and picking of goods in and out of the warehouse, and robots are an important part of the intelligent warehousing system. Intelligent warehousing robots can autonomously complete tasks such as the handling, sorting, storage, and tracking of goods by integrating advanced navigation technologies, sensor technologies, automation control technologies, and artificial intelligence algorithms, thus significantly improving the efficiency and accuracy of warehousing operations.

[0004] Among warehousing robots, there are orbital robots. The orbital robots move to the goods storage location along the tracks on the ground. When the orbital robot moves to the goods location and needs to grab the goods, the suction cup contacts and fits with the surface of the goods. At this time, the suction cup starts to pump air through the connected vacuum pump or air extraction device, extracting the air inside the suction cup, gradually reducing the air pressure inside the suction cup. As the air is extracted, a low-pressure environment relative to the external atmosphere is formed inside the suction cup, thereby generating a pressure difference between the inside and outside of the suction cup. According to the principle of atmospheric pressure, the external atmospheric pressure will generate an inward pressure on the suction cup, and this pressure will tightly press the suction cup against the surface of the goods. Due to the sealing effect between the suction cup and the surface of the goods, external air cannot enter the space between the suction cup and the goods, enabling this pressure difference to be maintained. Under the action of the pressure difference, an adsorption force sufficient to overcome the gravity of the goods and other resistances is generated, thereby firmly adsorbing the goods on the suction cup. After the adsorption force is formed, the orbital robot can, through its track system and drive device, move with the suction cup adsorbed with the goods and transport the goods to the designated location. However, after long-term use, the suction cups made of materials such as rubber or silica gel will have problems such as aging, hardening, and cracking, resulting in a decrease in the elasticity and sealing performance of the suction cups, making it difficult to closely fit with the surface of the goods, and thus unable to form an effective pressure difference to generate sufficient adsorption force, resulting in the phenomenon that the goods cannot be grabbed. Summary of the Invention

[0005] In view of the above situation, to overcome the defects of the prior art, the present invention provides an orbital storage robot applied to intelligent logistics to solve the problem that the suction cup is difficult to fit tightly with the surface of the goods, so that an effective pressure difference cannot be formed to generate sufficient adsorption force, resulting in the phenomenon that the goods cannot be grabbed.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] An orbital storage robot applied to intelligent logistics, including an orbital robot, a vacuum suction cup is installed on the end effector of the orbital robot for grabbing goods;

[0008] A secondary adsorption component, the secondary adsorption component is arranged inside the vacuum suction cup, the secondary adsorption component includes a secondary suction cup arranged inside the vacuum suction cup, both the vacuum suction cup and the secondary suction cup are composed of a sleeve and a conical rubber disk, a first annular groove adapted to the sleeve of the secondary suction cup is opened at the connection between the sleeve of the vacuum suction cup and the conical rubber disk, and the sleeve of the secondary suction cup is movably connected inside the first annular groove, and the vacuum suction cup cooperates with the secondary suction cup to adsorb and grab goods for transfer;

[0009] An extrusion component, the extrusion component is arranged inside the vacuum suction cup for extruding the conical rubber disk of the vacuum suction cup to make it close to the surface of the goods.

[0010] Preferably, a plurality of first grooves arranged at equal intervals are opened on the sleeve of the vacuum suction cup, the plurality of first grooves are annularly arranged on the sleeve of the vacuum suction cup, the plurality of first grooves are all communicated with the first annular groove, a supporting end portion is provided between every two of the first grooves, the inner wall of each first groove is slidably connected with a lifting plate, and the bottoms of the plurality of lifting plates are fixed on the top of the sleeve of the secondary suction cup for driving the secondary suction cup to slide towards the adsorption port of the vacuum suction cup to adsorb and grab goods.

[0011] Preferably, a second annular groove and a third annular groove are opened on the sleeve of the vacuum suction cup, an annular plate is slidably connected to the inner wall of the second annular groove, and a first return spring is fixed on the top of each supporting end portion.

[0012] Preferably, an annular retaining wall is formed between the second annular groove and the third annular groove, a plurality of first communication ports arranged at equal intervals are opened at the bottom end of the annular retaining wall, the plurality of first communication ports are annularly arranged on the annular retaining wall, each first communication port corresponds to a supporting end portion, and each first communication port is located above the corresponding supporting end portion.

[0013] Preferably, a second communication port is formed on the inner wall of the sleeve of the vacuum suction cup. The second communication port is communicated with the third annular groove. A lower annular block is slidably connected to the inner wall of the sleeve of the vacuum suction cup. The lower annular block is used to control the opening and closing state of the second communication port. An upper annular block is arranged on the upper side of the lower annular block. The outer wall of the upper annular block is fixed to the inner wall of the vacuum suction cup sleeve. A plurality of second return springs arranged at equal intervals are fixed between the bottom of the upper annular block and the top of the lower annular block to support the lower annular block. A filter element is fixed to the bottom of the lower annular block.

[0014] Preferably, the extrusion assembly includes an outer ring arranged outside the vacuum suction cup. A ring-shaped pipe is arranged on the lower side of the outer ring to press the conical rubber disc of the vacuum suction cup against the surface of the goods. A plurality of lifting columns arranged at equal intervals are fixed to the top of the ring-shaped pipe. The plurality of lifting columns are arranged in a ring on the outer ring. A plurality of sliding holes arranged at equal intervals and adapted to the lifting columns are formed on the outer ring. Each sliding hole corresponds to a lifting column. The lifting column is slidably connected inside the sliding hole.

[0015] Preferably, a sleeve handle is fixed to the outer wall of each lifting column. A third return spring is fixed between the bottom of each sleeve handle and the top of the outer ring to support the sleeve handle.

[0016] Preferably, a plurality of limiting grooves and receiving grooves arranged at equal intervals are formed on the inner wall of the vacuum suction cup sleeve. The plurality of limiting grooves and receiving grooves are both arranged in a ring on the vacuum suction cup. Each limiting groove corresponds to a receiving groove. The limiting groove is communicated with the corresponding receiving groove. A pushing plate is slidably connected inside each receiving groove. A linkage plate is fixed to the outer wall of the lower annular block.

[0017] Preferably, a cleaning assembly is arranged on the vacuum suction cup. The cleaning assembly includes a first linkage ring rotatably connected to the bottom of the filter element. First side plates are symmetrically fixed to the outer wall of the first linkage ring. The two first side plates are slidably connected to the inner wall of the vacuum suction cup sleeve on the side far away from the first linkage ring. A plurality of cleaning members arranged at equal intervals are fixed to the outer wall of the first linkage ring. The plurality of cleaning members are arranged in a ring on the first linkage ring to clean the surface of the filter element.

[0018] Preferably, a linkage shaft is arranged inside the first linkage ring. A threaded groove is formed at one end of the linkage shaft. A protrusion is provided on the inner wall of the first linkage ring. The protrusion is slidably connected inside the threaded groove.

[0019] The beneficial effects of the present invention are:

[0020] 1. Through the auxiliary suction cup provided inside the vacuum suction cup, the first annular groove, the first groove, the second annular groove, the third annular groove and the second communication port opened on the vacuum suction cup, the lifting plate provided inside the first groove, the annular plate provided inside the second annular groove, the first communication port opened on the annular retaining wall, the lower annular block and the upper annular block provided inside the vacuum suction cup, when the upper annular block moves upward, the lower annular block can release the closed state of the second communication port. At this time, the vacuum suction cup in a negative pressure state inside will extract the gas inside the third annular groove, and the gas inside the sealed cavity will flow into the inside of the vacuum suction cup in turn through the first communication port, the second annular groove, the third annular groove and the second communication port. The annular plate drives the lifting plate to move downward inside the first groove, so that the auxiliary suction cup slides towards the goods and adsorbs on the surface of the goods for grasping, thus cooperating with the vacuum suction cup to transfer the goods.

[0021] 2. Through the filter element provided on the lower annular block, the gas can be filtered, thus preventing the vacuum system on the rail robot from being damaged.

[0022] 3. Through the outer ring, the lifting column, the annular pipe and the sleeve handle provided on the vacuum suction cup, the limiting groove and the receiving groove opened on the vacuum suction cup, the linkage plate provided on the lower annular block, and the pushing plate provided inside the receiving groove. When the lower annular block moves upward, the linkage plate pushes the pushing plate to slide towards the outside of the vacuum suction cup, and the pushing plate abuts against the lifting column and drives it to move downward. The lifting column drives the annular pipe to slide towards the conical rubber disk of the vacuum suction cup to squeeze it, so as to maintain the tightness when the vacuum suction cup adsorbs on the surface of the goods.

[0023] 4. Through the sliding groove opened on the vacuum suction cup and the limiting block provided on the pushing plate, the pushing plate can be limited, thus maintaining the stability when the pushing plate slides.

[0024] 5. Through the first linkage ring provided on the filter element, the cleaning element and the linkage shaft provided on the first linkage ring, the threaded groove opened on the linkage shaft, and the second linkage ring provided on the linkage shaft. When the linkage shaft moves upward, the protrusion on the inner wall of the first linkage ring can slide along the extension track of the threaded groove, thus driving the first linkage ring to rotate, and the cleaning element of the first linkage ring cleans the surface of the filter element, thus maintaining the filtering performance of the filter element. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic structural diagram of the present invention.

[0026] Figure 2 It is a schematic structural diagram of the vacuum suction cup of the present invention.

[0027] Figure 3 It is a schematic first three-dimensional cross-sectional structural diagram of the vacuum suction cup of the present invention.

[0028] Figure 4 This is a schematic structural diagram of the auxiliary adsorption component of the present invention.

[0029] Figure 5 This is a schematic structural diagram of the extrusion component of the present invention.

[0030] Figure 6 This is a schematic structural diagram of the cleaning component of the present invention.

[0031] Figure 7 This is a second three-dimensional cross-sectional structural diagram of the vacuum suction cup of the present invention.

[0032] Figure 8 This is a schematic structural diagram of the first communication port of the present invention.

[0033] Figure 9 This is a schematic structural diagram of the first groove of the present invention.

[0034] In the figure: 10, rail robot; 11, vacuum suction cup; 20, auxiliary adsorption component; 21, auxiliary suction cup; 22, first annular groove; 23, first groove; 24, lifting plate; 25, second annular groove; 26, third annular groove; 27, annular plate; 28, first return spring; 29, first communication port; 210, second communication port; 211, lower annular block; 212, upper annular block; 213, second return spring; 214, filter element; 30, extrusion component; 31, outer ring; 32, lifting column; 33, annular pipe; 34, sleeve handle; 35, third return spring; 36, limit groove; 37, receiving groove; 38, pushing plate; 39, linkage plate; 310, limit block; 311, sliding groove; 40, cleaning component; 41, first linkage ring; 42, first side plate; 43, cleaning part; 44, linkage shaft; 45, threaded groove; 46, second linkage ring; 47, second side plate. Detailed implementation manners

[0035] Next, each embodiment of the present invention will be described in detail with reference to the reference appendices Figures 1 to 9 Those skilled in the art should understand that these implementation manners are only used to explain the technical principle of the present invention and are not intended to limit the protection scope of the present invention.

[0036] Embodiment 1: After the suction cup is used for a long time, problems such as aging, hardening, and cracking will occur in the suction cup made of rubber or silicone, etc., resulting in a decrease in the elasticity and sealing performance of the suction cup, making it difficult to closely fit the surface of the goods, and thus unable to form an effective pressure difference to generate sufficient adsorption force, resulting in the phenomenon that the goods cannot be grasped.

[0037] As Figures 1 - 9As shown in the figure, an orbital storage robot applied to intelligent logistics includes an orbital robot 10, and a vacuum suction cup 11 is installed on the end effector of the orbital robot 10 for grasping goods.

[0038] A secondary adsorption component 20 is installed on the vacuum suction cup 11 for cooperating with the vacuum suction cup 11 to grasp goods.

[0039] The secondary adsorption component 20 includes a secondary suction cup 21 arranged inside the vacuum suction cup 11. Both the vacuum suction cup 11 and the secondary suction cup 21 are composed of a sleeve and a conical rubber disk. There is a gap between the adsorption port of the secondary suction cup 21 and the adsorption port of the vacuum suction cup 11, and there is also a gap between the rubber adsorption pads of the secondary suction cup 21 and the vacuum suction cup 11. A first annular groove 22 adapted to the sleeve of the secondary suction cup 21 is provided at the connection between the sleeve of the vacuum suction cup 11 and the conical rubber disk, and the sleeve of the secondary suction cup 21 is movably connected inside the first annular groove 22.

[0040] A plurality of equally spaced first grooves 23 are provided on the sleeve of the vacuum suction cup 11. The plurality of first grooves 23 are arranged in a ring on the sleeve of the vacuum suction cup 11. The plurality of first grooves 23 are all communicated with the first annular groove 22. There is a support end between every two first grooves 23. The inner wall of each first groove 23 is slidably connected with a lifting plate 24. The bottoms of the plurality of lifting plates 24 are fixed to the top of the sleeve of the secondary suction cup 21 for driving the secondary suction cup 21 to slide towards the adsorption port of the vacuum suction cup 11, so that the vacuum suction cup 11 cooperates with the secondary suction cup 21 to adsorb and grasp goods.

[0041] A second annular groove 25 and a third annular groove 26 are provided on the sleeve of the vacuum suction cup 11. The second annular groove 25 is close to the middle of the sleeve of the vacuum suction cup 11, and the third annular groove 26 is far from the middle of the sleeve of the vacuum suction cup 11. The inner wall of the second annular groove 25 is slidably connected with an annular plate 27, and the annular plate 27 can slide up and down inside the second annular groove 25. The top of each support end is fixed with a first return spring 28. The tops of the plurality of first return springs 28 are fixed to the bottom of the annular plate 27 for supporting the annular plate 27, so as to facilitate driving the annular plate 27 to reset.

[0042] An annular retaining wall is formed between the second annular groove 25 and the third annular groove 26. A plurality of equally spaced first communication ports 29 are provided at the bottom end of the annular retaining wall. The plurality of first communication ports 29 are arranged in a ring on the annular retaining wall, and each first communication port 29 corresponds to a support end, and each first communication port 29 is located above the corresponding support end.

[0043] A second communication port 210 is provided on the inner wall of the sleeve of the vacuum suction cup 11. The second communication port 210 is annular and communicates with the third annular groove 26. A lower annular block 211 is slidably connected to the inner wall of the sleeve of the vacuum suction cup 11, and the lower annular block 211 is used to control the opening and closing state of the second communication port 210. An upper annular block 212 is provided on the upper side of the lower annular block 211, and the outer wall of the upper annular block 212 is fixed to the inner wall of the sleeve of the vacuum suction cup 11. A plurality of second return springs 213 arranged at equal distances are fixed between the bottom of the upper annular block 212 and the top of the lower annular block 211 to support the lower annular block 211, so as to facilitate driving the lower annular block 211 to reset.

[0044] A filter element 214 is fixed to the bottom of the lower annular block 211. In this embodiment, the filter element 214 is conical, and the filter element 214 is a filter net for filtering gas.

[0045] Since the rail robot 10 is a prior art and will not be described again. When the rail robot 10 is in use, the rail robot 10 first moves along the rail on the ground to the cargo, and then uses the drive system on the rail robot 10 to drive the vacuum suction cup 11 to adhere to the surface of the object. Secondly, the air inside the vacuum suction cup 11 is extracted through the vacuum system, so that the inside of the vacuum suction cup 11 is in a negative pressure state to adsorb and grab the cargo.

[0046] When the conical rubber disc of the vacuum suction cup 11 is deformed and leaks air, gas continuously enters the inside of the vacuum suction cup 11, and the gas will push against the filter element 214 to slide. And the vacuum system continuously extracts the gas inside the vacuum suction cup 11, thereby applying a pulling force to the filter element 214, and the filter element 214 drives the lower annular block 211 to slide inside the sleeve of the vacuum suction cup 11. At this time, the filter element 214 slides to the side away from the suction port of the vacuum suction cup 11, and the lower annular block 211 releases the closed state of the second communication port 210. At this time, the third annular groove 26 communicates with the inside of the vacuum suction cup 11 through the second communication port 210.

[0047] Since the inside of the vacuum suction cup 11 is continuously in a negative pressure state, the gas inside the second annular groove 25 flows into the inside of the vacuum suction cup 11 through the first communication port 29, the third annular groove 26 and the second communication port 210 in sequence. At this time, the inside of the third annular groove 26 is also in a negative pressure state.

[0048] Since a sealing cavity is formed between each supporting end and the two adjacent lifting plates 24 and the annular plate 27, and each sealing cavity corresponds to a first communication port 29, and the sealing cavity is communicated with the third annular groove 26 through the first communication port 29. When a negative pressure is generated inside the third annular groove 26, the gas inside the sealing cavity flows into the inside of the third annular groove 26 through the first communication port 29. Affected by the negative pressure of the sealing cavity, the annular plate 27 moves downward inside the second annular groove 25, and the annular plate 27 synchronously drives the lifting plate 24 to move downward inside the first groove 23. The auxiliary suction cup 21 will slide towards the goods and stick tightly to the surface of the goods for adsorption. At this time, the track robot 10 drives the goods to be grabbed to the surface for carrying the goods and placed, and then the goods are transferred. When the goods are transferred to the designated position, the vacuum system stops working, and the inside of the vacuum suction cup 11 is no longer in a negative pressure state, thus releasing the adsorption and grasping of the goods.

[0049] Through the auxiliary suction cup 21 arranged inside the vacuum suction cup 11, the first annular groove 22, the first groove 23, the second annular groove 25, the third annular groove 26 and the second communication port 210 opened on the vacuum suction cup 11, the lifting plate 24 arranged inside the first groove 23, the annular plate 27 arranged inside the second annular groove 25, the first communication port 29 opened on the annular retaining wall, the lower annular block 211 and the upper annular block 212 arranged inside the vacuum suction cup 11. When the upper annular block 212 moves upward, the closed state of the second communication port 210 is released. At this time, the vacuum suction cup 11 in a negative pressure state inside will extract the gas inside the third annular groove 26, and the gas inside the sealing cavity sequentially passes through the first communication port 29, the second annular groove 25, the third annular groove 26 and the second communication port 210 and flows into the inside of the vacuum suction cup 11. The annular plate 27 drives the lifting plate 24 to move downward inside the first groove 23, so that the auxiliary suction cup 21 slides towards the goods and adsorbs on the surface of the goods for grasping, thus cooperating with the vacuum suction cup 11 to transfer the goods.

[0050] Through the filter element 214 arranged on the lower annular block 211, the gas can be filtered, thus preventing the vacuum system on the track robot 10 from being damaged.

[0051] As Figure 3 、 Figure 4 、 Figure 5 And Figure 7 As shown, an extrusion assembly 30 is arranged inside the vacuum suction cup 11 for maintaining the tightness when the vacuum suction cup 11 adsorbs on the surface of the goods.

[0052] The extrusion assembly 30 includes an outer ring 31 disposed outside the vacuum suction cup 11. A ring-shaped tube 33 is provided on the lower side of the outer ring 31 for pressing the conical rubber disk of the vacuum suction cup 11 against the surface of the goods, so as to maintain the tightness when the vacuum suction cup 11 adsorbs on the surface of the goods. A plurality of lifting columns 32 arranged at equal distances are fixed to the top of the ring-shaped tube 33, and the tops of the lifting columns 32 have spherical surfaces. The plurality of lifting columns 32 are arranged in a ring on the outer ring 31. A plurality of sliding holes adapted to the lifting columns 32 are arranged at equal distances on the outer ring 31, and each sliding hole corresponds to a lifting column 32, and the lifting column 32 is slidably connected inside the sliding hole.

[0053] A sleeve handle 34 is fixed to the outer wall of each lifting column 32, and a third return spring 35 is fixed between the bottom of each sleeve handle 34 and the top of the outer ring 31 for supporting the sleeve handle 34, so as to facilitate driving the lifting column 32 to reset.

[0054] A plurality of equally spaced limiting grooves 36 and receiving grooves 37 are provided on the inner wall of the sleeve of the vacuum suction cup 11. The plurality of limiting grooves 36 and receiving grooves 37 are arranged in a ring on the vacuum suction cup 11. Each limiting groove 36 corresponds to a receiving groove 37, and the limiting groove 36 communicates with the corresponding receiving groove 37. A pushing plate 38 is slidably connected inside each receiving groove 37, and both sides of the pushing plate 38 have arc surfaces for pushing the ring-shaped tube 33 downward, so as to maintain the tightness when the conical rubber disk of the vacuum suction cup 11 adsorbs on the surface of the goods. A linkage plate 39 is fixed to the outer wall of the lower annular block 211 for driving the ring-shaped tube 33 to slide through the pushing plate 38, so that the ring-shaped tube 33 slides towards the conical rubber disk of the vacuum suction cup 11 to press it.

[0055] A limiting block 310 is fixed to the outer wall of each pushing plate 38. A plurality of sliding grooves 311 adapted to the limiting blocks 310 are arranged at equal distances on the vacuum suction cup 11. Each sliding groove 311 corresponds to a receiving groove 37, and the receiving groove 37 communicates with the sliding groove 311. Each limiting block 310 corresponds to a sliding groove 311, and each limiting block 310 is slidably connected inside the corresponding sliding groove 311.

[0056] When the lower annular block 211 moves upward, the linkage plate 39 slides inside the limiting groove 36, and the arc surface of the linkage plate 39 abuts against the arc surface of the corresponding pushing plate 38, and the pushing plate 38 slides out of the receiving groove 37. The pushing plate 38 abuts against the spherical surface at the top of the lifting column 32, and the pushing plate 38 drives the lifting column 32 to move downward inside the sliding hole. At this time, the sleeve handle 34 compresses the third return spring 35, and the lifting column 32 drives the ring-shaped tube 33 to slide to the conical rubber disk of the vacuum suction cup 11 and press it, so that the conical rubber disk of the vacuum suction cup 11 closely adheres to the surface of the goods, thereby maintaining the adsorption and grasping ability of the vacuum suction cup 11 to the goods.

[0057] Through the outer ring 31, lifting column 32, annular tube 33 and sleeve handle 34 provided on the vacuum suction cup 11, the limit groove 36 and receiving groove 37 opened on the vacuum suction cup 11, the linkage plate 39 provided on the lower annular block 211, and the push plate 38 provided inside the receiving groove 37, when the lower annular block 211 moves upward, the linkage plate 39 pushes the push plate 38 to slide out of the vacuum suction cup 11, and the push plate 38 abuts against the lifting column 32 and drives it to move downward. The lifting column 32 drives the annular tube 33 to slide towards the conical rubber disc of the vacuum suction cup 11 to squeeze it, so as to maintain the tightness when the vacuum suction cup 11 adsorbs on the surface of the goods.

[0058] Through the chute 311 opened on the vacuum suction cup 11 and the limit block 310 provided on the push plate 38, the push plate 38 can be limited, so as to maintain the stability when the push plate 38 slides.

[0059] Embodiment 2: Since the main function of the filter element 214 is to intercept and capture particulate matters such as dust and impurities in the air and prevent dirt in the gas from entering the interior of the vacuum system and causing damage, when air passes through the filter element 214, particulate matters such as dust will be blocked on the surface or inside of the filter element 214 because their sizes are larger than the pore diameter of the filter element 214. As time goes by and the air flow increases, the intercepted dust will gradually accumulate on the filter element 214, forming dust residue. However, when the filter element 214 is used for a long time, a large amount of filtered residual dust will adhere to its surface, thereby reducing the gas passing performance on the surface of the filter element 214, and thus reducing the adsorption performance of the vacuum suction cup 11 on the surface of the goods. In view of this, an improvement is made on the basis of Embodiment 1.

[0060] As Figure 5 shown in Figure 6 the figure, a cleaning assembly 40 is provided on the vacuum suction cup 11 for cleaning the surface of the filter element 214.

[0061] The cleaning assembly 40 includes a first linkage ring 41 rotatably connected to the bottom of the filter element 214. Symmetrically fixed to the outer wall of the first linkage ring 41 are first side plates 42, and the two first side plates 42 are slidably connected to the inner wall of the sleeve of the vacuum suction cup 11 on the side away from the first linkage ring 41. Fixed to the outer wall of the first linkage ring 41 are a plurality of cleaning members 43 arranged at equal distances. The plurality of cleaning members 43 are arranged in a ring on the first linkage ring 41 for cleaning the surface of the filter element 214, so as to maintain the filtering performance of the filter element 214.

[0062] A linkage shaft 44 is provided inside the first linkage ring 41. One end of the linkage shaft 44 is provided with a threaded groove 45. The inner wall of the first linkage ring 41 has a protrusion, and the protrusion is slidably connected to the inside of the threaded groove 45.

[0063] The other end of the linkage shaft 44 is fixed with a second linkage ring 46, and a second side plate 47 is fixed between the outer wall of the second linkage ring 46 and the inner wall of the lower annular block 211.

[0064] When the lower annular block 211 moves upward, the lower annular block 211 drives the second linkage ring 46 to move upward synchronously through the second side plate 47, and the second linkage ring 46 drives the linkage shaft 44 to move upward inside the first linkage ring 41. The protrusion of the first linkage ring 41 slides along the extension track of the thread groove 45, and the first linkage ring 41 rotates. The first linkage ring 41 drives the cleaning member 43 to slide along the surface of the filter member 214, so as to clean the dirt attached to the surface of the filter member 214 and maintain the filtering performance of the filter member 214.

[0065] Through the first linkage ring 41 provided on the filter member 214, the cleaning member 43 provided on the first linkage ring 41, the linkage shaft 44, the thread groove 45 opened on the linkage shaft 44, and the second linkage ring 46 provided on the linkage shaft 44, when the linkage shaft 44 moves upward, the protrusion on the inner wall of the first linkage ring 41 can slide along the extension track of the thread groove 45, thereby driving the first linkage ring 41 to rotate. The cleaning member 43 of the first linkage ring 41 cleans the surface of the filter member 214, so as to maintain the filtering performance of the filter member 214.

[0066] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A rail-type storage robot for use in smart logistics, comprising a rail robot (10), wherein a vacuum suction cup (11) is installed on the end effector of the rail robot (10) for grasping goods, and wherein: It also includes an auxiliary suction component (20), the auxiliary suction component (20) is arranged inside the vacuum suction cup (11), the auxiliary suction component (20) includes an auxiliary suction cup (21) arranged inside the vacuum suction cup (11), the vacuum suction cup (11) and the auxiliary suction cup (21) are both composed of a sleeve and a conical rubber disc, a first annular groove (22) adapted to the sleeve of the auxiliary suction cup (21) is provided at the connection between the sleeve of the vacuum suction cup (11) and the conical rubber disc, and the sleeve of the auxiliary suction cup (21) is movably connected inside the first annular groove (22), and the vacuum suction cup (11) cooperates with the auxiliary suction cup (21) to absorb, grasp and transfer the cargo; A squeezing assembly (30) is arranged inside the vacuum suction cup (11) and is used to squeeze the conical rubber disc of the vacuum suction cup (11) so that it is tightly attached to the surface of the cargo.

2. The rail-type storage robot for smart logistics according to claim 1, characterized in that: The sleeve of the vacuum suction cup (11) is provided with a plurality of first grooves (23) arranged at equal distances. The plurality of first grooves (23) are arranged in an annular shape on the sleeve of the vacuum suction cup (11). The plurality of first grooves (23) are all connected to the first annular groove (22). A supporting end is provided between every two of the first grooves (23). The inner wall of each first groove (23) is slidably connected to a lifting plate (24). The bottoms of the plurality of lifting plates (24) are fixed to the top of the sleeve of the auxiliary suction cup (21) so as to drive the auxiliary suction cup (21) to slide toward the suction port of the vacuum suction cup (11) to suck and grab the goods.

3. The track-type storage robot for smart logistics according to claim 2 is characterized in that: A second annular groove (25) and a third annular groove (26) are provided on the sleeve of the vacuum suction cup (11); an annular plate (27) is slidably connected to the inner wall of the second annular groove (25); and a first return spring (28) is fixed to the top of each supporting end.

4. The rail-type storage robot for smart logistics according to claim 3 is characterized in that: An annular retaining wall is formed between the second annular groove (25) and the third annular groove (26); a plurality of first communication openings (29) arranged at equal distances are formed at the bottom end of the annular retaining wall; the plurality of first communication openings (29) are arranged in an annular shape on the annular retaining wall; each of the first communication openings (29) corresponds to a support end; and each of the first communication openings (29) is located above the corresponding support end.

5. The rail-type storage robot for smart logistics according to claim 4 is characterized in that: A second communication port (210) is provided on the inner wall of the sleeve of the vacuum suction cup (11), and the second communication port (210) is communicated with the third annular groove (26). A lower annular block (211) is slidably connected to the inner wall of the sleeve of the vacuum suction cup (11), and the lower annular block (211) is used to control the opening and closing state of the second communication port (210). An upper annular block (212) is provided on the upper side of the lower annular block (211), and the outer wall of the upper annular block (212) is fixed to the inner wall of the sleeve of the vacuum suction cup (11). A plurality of second return springs (213) arranged at equal distances are fixed between the bottom of the upper annular block (212) and the top of the lower annular block (211), and are used to support the lower annular block (211). A filter element (214) is fixed to the bottom of the lower annular block (211).

6. The rail-type storage robot for smart logistics according to claim 5, characterized in that: The squeezing assembly (30) comprises an outer ring (31) arranged outside the vacuum suction cup (11); an annular tube (33) is arranged on the lower side of the outer ring (31) for squeezing the conical rubber disc of the vacuum suction cup (11) to be in close contact with the surface of the cargo; a plurality of lifting columns (32) arranged at equal distances are fixed on the top of the annular tube (33); the plurality of lifting columns (32) are arranged in an annular shape on the outer ring (31); a plurality of sliding holes arranged at equal distances and adapted to the lifting columns (32) are provided on the outer ring (31); each of the sliding holes corresponds to a lifting column (32); and the lifting column (32) is slidably connected inside the sliding hole.

7. The rail-type storage robot for smart logistics according to claim 6, characterized in that: A sleeve handle (34) is fixed to the outer wall of each lifting column (32), and a third return spring (35) is fixed between the bottom of each sleeve handle (34) and the top of the outer ring (31) for supporting the sleeve handle (34).

8. The rail-type storage robot for smart logistics according to claim 7, characterized in that: A plurality of equidistantly arranged limiting grooves (36) and accommodating grooves (37) are provided on the inner wall of the sleeve of the vacuum suction cup (11); the plurality of limiting grooves (36) and accommodating grooves (37) are arranged in a ring shape on the vacuum suction cup (11); each limiting groove (36) corresponds to a accommodating groove (37); the limiting groove (36) is connected to the corresponding accommodating groove (37); a pushing plate (38) is slidably connected to the interior of each accommodating groove (37); and a linkage plate (39) is fixed to the outer wall of the lower annular block (211).

9. The rail-type storage robot for smart logistics according to claim 8, characterized in that: The vacuum suction cup (11) is provided with a cleaning assembly (40), the cleaning assembly (40) comprising a first linkage ring (41) rotatably connected to the bottom of the filter element (214), first side plates (42) being symmetrically fixed to the outer wall of the first linkage ring (41), two sides of the first side plates (42) away from the first linkage ring (41) being slidably connected to the inner wall of the sleeve of the vacuum suction cup (11), a plurality of cleaning elements (43) arranged at equal distances being fixed to the outer wall of the first linkage ring (41), the plurality of cleaning elements (43) being arranged in a ring shape on the first linkage ring (41) for cleaning the surface of the filter element (214).

10. The rail-type storage robot for smart logistics according to claim 9, characterized in that: A linkage shaft (44) is arranged inside the first linkage ring (41), a thread groove (45) is provided at one end of the linkage shaft (44), and an inner wall of the first linkage ring (41) has a protrusion, which is slidably connected to the inside of the thread groove (45).

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