A track type warehousing robot applied to intelligent logistics

Abstract

The application relates to the technical field of robots, in particular to a track type warehouse robot applied to intelligent logistics, which comprises a track robot, a vacuum chuck is installed on the end effector of the track robot, and a secondary suction assembly and an extrusion assembly are arranged in the vacuum chuck. When the upper annular block moves upwards, the closed state of the second communication port is released, at this time, the vacuum chuck extracts the gas in the third annular groove under the negative pressure state of the inside, the gas in the sealed cavity flows into the inside of the vacuum chuck 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 downwards in the first groove, so that the secondary suction chuck slides to the goods and is adsorbed on the surface of the goods to be gripped, thereby the goods are transferred in cooperation with the vacuum chuck.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a track type warehouse robot applied to intelligent logistics. BACKGROUND

[0002] Intelligent warehousing is generated with the emergence of material storage, and develops with the development of productivity. Warehouse is one of the important links of commodity circulation and an important pillar of logistics activities. Warehouse is the temporary storage of products and goods due to order preposition or market forecast preposition in the production and circulation process. It is a comprehensive place that reflects the material activity of the factory and a transit station that connects production, supply and sales, and plays an important auxiliary role in promoting the efficiency of production.

[0003] The warehouse robot is an important part of the intelligent warehouse system. The intelligent warehouse robot can autonomously complete the tasks of goods handling, sorting, storage and tracking by integrating advanced navigation technology, sensor technology, automation control technology and artificial intelligence algorithms, thereby significantly improving the efficiency and accuracy of warehouse operations.

[0004] The warehouse robot includes a track robot, and the track robot moves to the goods storage place by using the ground track. When the track robot moves to the goods and needs to grasp the goods, the suction cup contacts and adheres to the surface of the goods. At this time, the suction cup starts to pump air through the connected vacuum pump or air pumping device, and the air in the suction cup is pumped out, so that the air pressure in the suction cup gradually decreases. As the air is pumped out, a low-pressure environment is formed inside the suction cup relative to the outside atmosphere, thereby generating a pressure difference between the inside and outside of the suction cup. According to the principle of atmospheric pressure, the outside atmospheric pressure will generate an inward pressure on the suction cup, which will tightly press the suction cup on the surface of the goods. Due to the sealing effect between the suction cup and the surface of the goods, the outside air cannot enter the space between the suction cup and the goods, so that the pressure difference can be maintained. Under the action of the pressure difference, an adsorption force sufficient to overcome the gravity and other resistance of the goods is generated, so that the goods are tightly adsorbed on the suction cup. After the adsorption force is formed, the track robot can move with the suction cup adsorbing the goods by the track system and the driving device, and transport the goods to the designated position. However, the rubber or silicone suction cup will age, harden, crack and other problems after long-term use, which will reduce the elasticity and sealing performance of the suction cup, making it difficult to tightly adhere to the surface of the goods, thereby failing to form an effective pressure difference to generate sufficient adsorption force, resulting in the phenomenon that the goods cannot be grasped. SUMMARY

[0005] In order to overcome the shortcomings of the prior art, the present invention provides a track-type warehousing robot for smart logistics, which solves the problem that the suction cups are difficult to adhere tightly to the surface of the goods, thus failing to form an effective pressure difference to generate sufficient suction force, thereby causing the goods to be unable to be grasped.

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

[0007] A track-type warehousing robot for smart logistics includes a track robot. The end effector of the track robot is equipped with a vacuum suction cup for gripping goods. The vacuum suction cup contains a secondary suction assembly, which includes a secondary suction cup disposed inside the vacuum suction cup. Both the vacuum suction cup and the secondary suction cup are composed of a sleeve and a conical rubber disc. A first annular groove adapted to the sleeve of the secondary suction cup is formed at the connection between the sleeve and the conical rubber disc. The sleeve of the secondary suction cup is movably connected inside the first annular groove. The vacuum suction cup, in conjunction with the secondary suction cup, is used to grip and transfer goods. The sleeve of the vacuum suction cup has multiple equidistant first grooves, a second annular groove, and a third annular groove. An annular baffle is formed between the second and third annular grooves. Multiple equidistant first connecting ports are formed at the bottom end of the annular baffle. A second connecting port is formed on the inner wall of the sleeve of the vacuum suction cup.

[0008] A squeezing assembly, located inside the vacuum suction cup, is used to squeeze the conical rubber disc of the vacuum suction cup so that it adheres tightly to the surface of the goods.

[0009] Preferably, a plurality of the first grooves are arranged in a ring on the sleeve of the vacuum suction cup, and the plurality of the first grooves are connected to the first annular groove. A supporting end is provided between every two first grooves. A lifting plate is slidably connected to the inner wall of each first groove. The bottom of the plurality of lifting plates is fixed to the top of the auxiliary suction cup sleeve, and is used to drive the auxiliary suction cup to slide toward the suction port of the vacuum suction cup to suction and grab the goods.

[0010] Preferably, an annular plate is slidably connected to the inner wall of the second annular groove, and a first return spring is fixed to the top of each support end.

[0011] Preferably, a plurality of first connecting ports are arranged in a ring on the annular baffle wall, each first connecting port corresponds to a support end, and each first connecting port is located above the corresponding support end.

[0012] Preferably, the second communication port is in communication with the third annular groove, a lower annular block is slidably connected to the inner wall of the sleeve of the vacuum chuck, the lower annular block is used for controlling 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 sleeve of the vacuum chuck, a plurality of second return springs are fixed between the bottom of the upper annular block and the top of the lower annular block and are arranged at equal distances, the second return springs are used for supporting the lower annular block, and a filter is fixed to the bottom of the lower annular block.

[0013] Preferably, the extrusion assembly comprises an outer ring arranged outside the vacuum chuck, the lower side of the outer ring is provided with an annular pipe, the annular pipe is used for extruding the conical rubber disc of the vacuum chuck to tightly adhere to the surface of the goods, the top of the annular pipe is fixed with a plurality of lifting columns arranged at equal distances, the plurality of lifting columns are annularly arranged on the outer ring, a plurality of sliding holes adapted to the lifting columns and arranged at equal distances are formed in the outer ring, each sliding hole corresponds to one lifting column, and the lifting column is slidably connected in the sliding hole.

[0014] Preferably, the outer wall of each lifting column is fixed with a sleeve handle, and a third return spring is fixed between the bottom of each sleeve handle and the top of the outer ring and is used for supporting the sleeve handle.

[0015] Preferably, a plurality of limiting grooves and accommodating grooves arranged at equal distances are formed in the inner wall of the sleeve of the vacuum chuck, the plurality of limiting grooves and accommodating grooves are annularly arranged on the vacuum chuck, each limiting groove corresponds to one accommodating groove, the limiting groove is in communication with the corresponding accommodating groove, the inner part of each accommodating groove is slidably connected with a push plate, and the outer wall of the lower annular block is fixed with a linkage plate.

[0016] Preferably, the vacuum chuck is provided with a cleaning assembly, the cleaning assembly comprises a first linkage ring rotatably connected to the bottom of the filter, the outer wall of the first linkage ring is fixed with a first side plate in a symmetrical manner, the side, away from the first linkage ring, of each first side plate is slidably connected to the inner wall of the sleeve of the vacuum chuck, the outer wall of the first linkage ring is fixed with a plurality of cleaning pieces arranged at equal distances, and the plurality of cleaning pieces are annularly arranged on the first linkage ring and are used for cleaning the surface of the filter.

[0017] Preferably, the inner part of the first linkage ring is provided with a linkage shaft, a threaded groove is formed in one end of the linkage shaft, the inner wall of the first linkage ring has a protrusion, and the protrusion is slidably connected in the inner part of the threaded groove.

[0018] The beneficial effects of the present application are as follows:

[0019] 1. The application is characterized in that the vacuum chuck is internally provided with a sub-vacuum chuck, the vacuum chuck is provided with a first annular groove, a first groove, a second annular groove, a third annular groove and a second communication port, the first groove is internally provided with a lifting plate, the second annular groove is internally provided with an annular plate, the annular baffle is provided with a first communication port, the vacuum chuck is internally provided with a lower annular block and an upper annular block, when the upper annular block moves upwards, the lower annular block can release the closed state of the second communication port, at this time, the vacuum chuck in the internal negative pressure state can extract the gas in the third annular groove, the gas in the sealed cavity flows into the internal of the vacuum chuck in turn through the first communication port, the second annular groove, the third annular groove and the second communication port, and the annular plate drives the lifting plate to move downwards in the first groove, so that the sub-vacuum chuck slides to the goods and is adsorbed on the surface of the goods to grasp, thereby cooperating with the vacuum chuck to transfer the goods.

[0020] 2. The application is characterized in that the lower annular block is provided with a filter, which can filter the gas, thereby avoiding damage to the vacuum system of the track robot.

[0021] 3. The application is characterized in that the vacuum chuck is provided with an outer ring, a lifting column, an annular pipe and a sleeve handle, the vacuum chuck is provided with a limiting groove and a containing groove, the lower annular block is provided with a linkage plate, the containing groove is internally provided with a push plate, when the lower annular block moves upwards, the linkage plate pushes the push plate to slide to the outside of the vacuum chuck, the push plate abuts against the lifting column and drives it to move downwards, the lifting column drives the annular pipe to slide to the conical rubber disc of the vacuum chuck to extrude it, thereby maintaining the tightness of the vacuum chuck adsorbed on the surface of the goods.

[0022] 4. The application is characterized in that the vacuum chuck is provided with a sliding groove, and the push plate is provided with a limiting block, which can limit the push plate, thereby maintaining the stability of the push plate when sliding.

[0023] 5. The application is characterized in that the filter is provided with a first linkage ring, the first linkage ring is provided with a cleaning piece and a linkage shaft, the linkage shaft is provided with a second linkage ring and a threaded groove, when the linkage shaft moves upwards, the protrusions on the inner wall of the first linkage ring can slide along the extension track of the threaded groove, thereby driving the first linkage ring to rotate, and the cleaning piece of the first linkage ring cleans the surface of the filter, thereby maintaining the filtering performance of the filter. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the application.

[0025] Figure 2 It is a structural schematic diagram of the vacuum chuck of the application.

[0026] Figure 3 It is a first three-dimensional cross-sectional structural schematic diagram of the vacuum chuck of the application.

[0027] Figure 4 Structure diagram of a secondary adsorption assembly of the present application.

[0028] Figure 5 Structure diagram of a pressing assembly of the present application.

[0029] Figure 6 Structure diagram of a cleaning assembly of the present application.

[0030] Figure 7 Second structure diagram of a sectional view of a vacuum chuck of the present application.

[0031] Figure 8 Structure diagram of a first communication port of the present application.

[0032] Figure 9 Structure diagram of a first recess of the present application.

[0033] In the figure: 10, track robot; 11, vacuum chuck; 20, secondary adsorption assembly; 21, secondary chuck; 22, first annular groove; 23, first recess; 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; 30, pressing assembly; 31, outer ring; 32, lifting column; 33, annular tube; 34, sleeve handle; 35, third return spring; 36, limiting groove; 37, containing groove; 38, pushing plate; 39, linkage plate; 310, limiting block; 311, sliding groove; 40, cleaning assembly; 41, first linkage ring; 42, first side plate; 43, cleaning piece; 44, linkage shaft; 45, threaded groove; 46, second linkage ring; 47, second side plate. DETAILED DESCRIPTION

[0034] The present application will be described in detail below with reference to the accompanying drawings. Figures 1 to 9 The embodiments of the present application will be described in detail. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application.

[0035] Embodiment one: After long-term use of the vacuum chuck, the rubber or silicone material of the vacuum chuck will age, harden, crack, etc., resulting in a decrease in the elasticity and sealing performance of the vacuum chuck, making it difficult to closely adhere to the surface of the goods, so that an effective pressure difference cannot be formed to generate sufficient adsorption force, thereby causing the goods to be unable to be gripped.

[0036] As Figures 1 to 9As shown, a track warehouse robot applied to intelligent logistics comprises a track robot 10, and a vacuum chuck 11 is installed on an end effector of the track robot 10 and used for grabbing goods.

[0037] A sub-suction assembly 20 is installed on the vacuum chuck 11 and used for grabbing goods in cooperation with the vacuum chuck 11.

[0038] The sub-suction assembly 20 comprises a sub-chuck 21 arranged inside the vacuum chuck 11, the vacuum chuck 11 and the sub-chuck 21 are composed of sleeves and conical rubber discs, there is a gap between a suction port of the sub-chuck 21 and a suction port of the vacuum chuck 11, and there is also a gap between a rubber suction pad of the sub-chuck 21 and a rubber suction pad of the vacuum chuck 11, a first annular groove 22 adapted to the sleeve of the sub-chuck 21 is arranged at a connecting position of the sleeve and the conical rubber disc of the vacuum chuck 11, and the sleeve of the sub-chuck 21 is movably connected inside the first annular groove 22.

[0039] A plurality of first grooves 23 are arranged at equal distances on the sleeve of the vacuum chuck 11, the plurality of first grooves 23 are annularly arranged on the sleeve of the vacuum chuck 11, the plurality of first grooves 23 are in communication with the first annular groove 22, each two first grooves 23 have a support end portion therebetween, and an inner wall of each first groove 23 is movably connected with a lifting plate 24, the bottom of the plurality of lifting plates 24 is fixed to the top of the sleeve of the sub-chuck 21, and the lifting plates 24 are used to drive the sub-chuck 21 to slide to the suction port of the vacuum chuck 11, so that the vacuum chuck 11 cooperates with the sub-chuck 21 to adsorb and grab the goods.

[0040] A second annular groove 25 and a third annular groove 26 are arranged on the sleeve of the vacuum chuck 11, the second annular groove 25 is close to the middle of the sleeve of the vacuum chuck 11, the third annular groove 26 is away from the middle of the sleeve of the vacuum chuck 11, an annular plate 27 is movably connected to the inner wall of the second annular groove 25, and the annular plate 27 can move up and down inside the second annular groove 25, a first return spring 28 is fixed to the top of each support end portion, and the top of the plurality of first return springs 28 is fixed to the bottom of the annular plate 27, and the first return springs 28 are used to support the annular plate 27, so as to facilitate the resetting of the annular plate 27.

[0041] An annular barrier is formed between the second annular groove 25 and the third annular groove 26, a plurality of first communication ports 29 are arranged at equal distances on the bottom end of the annular barrier, the plurality of first communication ports 29 are annularly arranged on the annular barrier, each first communication port 29 corresponds to a support end portion, and each first communication port 29 is located above the corresponding support end portion.

[0042] The sleeve inner wall of the vacuum chuck 11 is provided with a second communication port 210, which is annular and communicates with the third annular groove 26. The sleeve inner wall of the vacuum chuck 11 is slidably connected with a lower annular block 211, which is used to control the opening and closing state of the second communication port 210. The upper side of the lower annular block 211 is provided with an upper annular block 212, and the outer wall of the upper annular block 212 is fixed on the inner wall of the sleeve of the vacuum chuck 11. The bottom of the upper annular block 212 and the top of the lower annular block 211 are fixed with a plurality of second reset springs 213 arranged at equal distances, which are used to support the lower annular block 211, so as to conveniently drive the lower annular block 211 to reset.

[0043] The bottom of the lower annular block 211 is fixed with a filter 214. In this embodiment, the filter 214 is conical, and is a filter screen, which is used to filter gas.

[0044] Since the track robot 10 is prior art, it will not be described. When the track robot 10 is used, the track robot 10 is first moved along the track on the ground to the goods, and then the driving system on the track robot 10 is used to drive the vacuum chuck 11 to adhere to the surface of the object. Then, the vacuum system is used to extract the air in the vacuum chuck 11, so that the vacuum chuck 11 is in a negative pressure state to adsorb and grasp the goods.

[0045] When the conical rubber disc of the vacuum chuck 11 is deformed and leaks, gas continuously enters the inside of the vacuum chuck 11, and the gas slides against the filter 214. The vacuum system continuously extracts the gas in the inside of the vacuum chuck 11, so as to exert a pulling force on the filter 214. The filter 214 drives the lower annular block 211 to slide in the inside of the sleeve of the vacuum chuck 11. At this time, the filter 214 slides to the side away from the suction port of the vacuum chuck 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 chuck 11 through the second communication port 210.

[0046] Since the inside of the vacuum chuck 11 is continuously in a negative pressure state, the gas in the second annular groove 25 flows into the inside of the vacuum chuck 11 through the first communication port 29, the third annular groove 26 and the second communication port 210 in turn. At this time, the inside of the third annular groove 26 is also in a negative pressure state.

[0047] Since each support end cooperates with the two adjacent lifting plates 24 and the annular plate 27 to form a sealed cavity, each sealed cavity corresponds to a first communication port 29, and the sealed cavity is connected with the third annular groove 26 through the first communication port 29. When the negative pressure is generated in the third annular groove 26, the gas in the sealed cavity flows to the inside of the third annular groove 26 through the first communication port 29, and the annular plate 27 is affected by the negative pressure of the sealed cavity and moves downward in the second annular groove 25. The annular plate 27 synchronously drives the lifting plate 24 to move downward in the first recess 23, and the auxiliary suction cup 21 slides to the surface of the goods and is tightly attached to the surface of the goods for adsorption. At this time, the track robot 10 carries the goods to the surface for placing the goods, 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, thereby releasing the adsorption and grabbing of the goods.

[0048] Through the auxiliary suction cup 21 arranged in the vacuum suction cup 11, the first annular groove 22, the first recess 23, the second annular groove 25, the third annular groove 26 and the second communication port 210 arranged on the vacuum suction cup 11, the lifting plate 24 arranged in the first recess 23, the annular plate 27 arranged in the second annular groove 25, the first communication port 29 arranged on the annular baffle, the lower annular block 211 and the upper annular block 212 arranged in 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 the negative pressure state can extract the gas in the third annular groove 26, and the gas in the sealed cavity flows into the inside of the vacuum suction cup 11 through the first communication port 29, the second annular groove 25, the third annular groove 26 and the second communication port 210 in sequence. The annular plate 27 drives the lifting plate 24 to move downward in the first recess 23, so that the auxiliary suction cup 21 slides to the surface of the goods and is adsorbed on the surface of the goods for grabbing, thereby cooperating with the vacuum suction cup 11 to transfer the goods.

[0049] Through the filter 214 arranged on the lower annular block 211, the gas can be filtered, thereby avoiding damage to the vacuum system on the track robot 10.

[0050] As shown in Figure 3 , Figure 4 , Figure 5 and Figure 7 , the inside of the vacuum suction cup 11 is provided with an extrusion assembly 30 for keeping the tightness of the vacuum suction cup 11 adsorbed on the surface of the goods.

[0051] The extrusion assembly 30 comprises an outer ring 31 arranged outside the vacuum chuck 11, the lower side of the outer ring 31 is provided with an annular pipe 33 for extruding the conical rubber disc of the vacuum chuck 11 to adhere to the surface of the goods, thereby maintaining the tightness of the vacuum chuck 11 when it is adsorbed on the surface of the goods, the top of the annular pipe 33 is fixed with a plurality of lifting columns 32 arranged at equal distances, and the top of the lifting column 32 has a spherical surface, a plurality of lifting columns 32 are arranged in a ring on the outer ring 31, a plurality of sliding holes arranged at equal distances and matched with the lifting columns 32 are formed on the outer ring 31, and each sliding hole corresponds to one lifting column 32, and the lifting column 32 is slidingly connected in the sliding hole.

[0052] The outer wall of each lifting column 32 is fixed with a sleeve handle 34, and the bottom of each sleeve handle 34 is fixed with a third reset spring 35 between the top of the outer ring 31, for supporting the sleeve handle 34, thereby facilitating the reset of the lifting column 32.

[0053] A plurality of limiting grooves 36 and accommodating grooves 37 are formed on the inner wall of the sleeve of the vacuum chuck 11, the plurality of limiting grooves 36 and accommodating grooves 37 are arranged in a ring on the vacuum chuck 11, each limiting groove 36 corresponds to one accommodating groove 37, and the limiting groove 36 is communicated with the corresponding accommodating groove 37, and the inner part of each accommodating groove 37 is slidingly connected with a push plate 38, and the two sides of the push plate 38 have arc surfaces for pushing the annular pipe 33 downward, thereby maintaining the tightness of the conical rubber disc of the vacuum chuck 11 when it is adsorbed on the surface of the goods, the outer wall of the lower annular block 211 is fixed with a linkage plate 39 for sliding the annular pipe 33 by driving the push plate 38, so that the annular pipe 33 slides to the conical rubber disc of the vacuum chuck 11 to extrude it.

[0054] The outer wall of each push plate 38 is fixed with a limiting block 310, a plurality of sliding grooves 311 matched with the limiting blocks 310 are formed on the vacuum chuck 11 at equal distances, each sliding groove 311 corresponds to one accommodating groove 37, and the accommodating groove 37 is communicated with the sliding groove 311, and each limiting block 310 corresponds to one sliding groove 311, and each limiting block 310 is slidingly connected in the corresponding sliding groove 311.

[0055] When the lower annular block 211 moves upward, the linkage plate 39 slides in the limiting groove 36, and the arc surface of the linkage plate 39 abuts against the arc surface of the corresponding push plate 38, and the push plate 38 slides to the outside of the accommodating groove 37, the push plate 38 abuts against the spherical surface at the top of the lifting column 32, and the push plate 38 drives the lifting column 32 to move downward in the sliding hole, at this time the sleeve handle 34 compresses the third reset spring 35, and the lifting column 32 drives the annular pipe 33 to slide to the conical rubber disc of the vacuum chuck 11 and extrudes it, so that the conical rubber disc of the vacuum chuck 11 adheres to the surface of the goods, thereby maintaining the adsorption and grabbing property of the vacuum chuck 11 to the goods.

[0056] By the outer ring 31, the lifting column 32, the annular pipe 33 and the sleeve handle 34 arranged on the vacuum chuck 11, the limiting groove 36 and the containing groove 37 opened on the vacuum chuck 11, the linkage plate 39 arranged on the lower annular block 211, the pushing plate 38 arranged inside the containing groove 37, when the lower annular block 211 moves upwards, the linkage plate 39 pushes the pushing plate 38 to slide to the outside of the vacuum chuck 11, and the pushing plate 38 abuts against the lifting column 32 and drives it to move downwards, the lifting column 32 drives the annular pipe 33 to slide to the conical rubber disc of the vacuum chuck 11 to press it, so that the tightness of the vacuum chuck 11 when it is adsorbed on the surface of the goods is maintained.

[0057] By the sliding groove 311 opened on the vacuum chuck 11 and the limiting block 310 arranged on the pushing plate 38, the pushing plate 38 can be limited, so that the stability of the pushing plate 38 when it slides is maintained.

[0058] In the embodiment two, since the filtering piece 214 mainly functions to intercept and capture the particulate matters such as dust and impurities in the air, to prevent the dirty in the air from entering the inside of the vacuum system to cause damage, when the air passes through the filtering piece 214, the particulate matters such as dust will be blocked on the surface or inside of the filtering piece 214 because the size is larger than the aperture of the filtering piece 214, with the passage of time and the increase of air flow, the intercepted dust will gradually accumulate on the filtering piece 214 to form dust residue, but the filtering piece 214 will have a large amount of dust residue attached to the surface after long-term use, so that the passing performance of the gas on the surface of the filtering piece 214 is reduced, and thus the adsorption performance of the vacuum chuck 11 on the surface of the goods is reduced, in view of this, the embodiment one is improved.

[0059] As shown in Figure 5 With Figure 6 As shown, the vacuum chuck 11 is provided with a cleaning assembly 40 for cleaning the surface of the filtering piece 214.

[0060] The cleaning assembly 40 comprises a first linkage ring 41 rotationally connected at the bottom of the filtering piece 214, the outer wall of the first linkage ring 41 is symmetrically fixed with a first side plate 42, and the sides of the two first side plates 42 away from the first linkage ring 41 are both slidingly connected to the inner wall of the sleeve of the vacuum chuck 11, the outer wall of the first linkage ring 41 is fixed with a plurality of cleaning pieces 43 arranged at equal distances, and the plurality of cleaning pieces 43 are annularly arranged on the first linkage ring 41 for cleaning the surface of the filtering piece 214, so as to maintain the filtering performance of the filtering piece 214.

[0061] The inside of the first linkage ring 41 is provided with a linkage shaft 44, 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 slidingly connected inside the threaded groove 45.

[0062] The other end of the linkage shaft 44 is fixed with a second linkage ring 46, and the outer wall of the second linkage ring 46 is fixed with a second side plate 47 and the inner wall of the lower annular block 211.

[0063] 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 in the interior of the first linkage ring 41, while the protrusion of the first linkage ring 41 slides along the extension track of the threaded groove 45, and the first linkage ring 41 rotates, and the first linkage ring 41 drives the cleaning member 43 to slide along the surface of the filter member 214, thereby cleaning the dirt attached to the surface of the filter member 214, and maintaining the filtering performance of the filter member 214.

[0064] Through the first linkage ring 41 arranged on the filter member 214, the cleaning member 43 arranged on the first linkage ring 41, the linkage shaft 44, the threaded groove 45 arranged on the linkage shaft 44, the second linkage ring 46 arranged 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 threaded groove 45, thereby driving the first linkage ring 41 to rotate, and the cleaning member 43 of the first linkage ring 41 cleans the surface of the filter member 214, thereby maintaining the filtering performance of the filter member 214.

[0065] So far, the technical scheme of the present application has been described in combination with the preferred embodiments shown in the drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical scheme after the changes or replacements will fall within the protection scope of the present application.

Claims

1. A track-mounted warehousing robot for smart logistics, comprising a track robot (10), wherein a vacuum suction cup (11) is mounted on the end effector of the track robot (10) for gripping goods, characterized in that, The vacuum suction cup (11) is provided with a secondary suction component (20). The secondary suction component (20) includes a secondary suction cup (21) disposed 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 disc. A first annular groove (22) adapted to the sleeve of the secondary suction cup (21) is opened at the connection between the sleeve of the vacuum suction cup (11) and the conical rubber disc. The sleeve of the secondary suction cup (21) is movably connected inside the first annular groove (22). The vacuum suction cup (11) and the secondary suction cup (21) are used to adsorb and grip goods. The vacuum suction cup (11) is used for transfer. The sleeve of the vacuum suction cup (11) has a plurality of first grooves (23) arranged at equal distances. The sleeve of the vacuum suction cup (11) has a second annular groove (25) and a third annular groove (26). The inner wall of the second annular groove (25) is slidably connected to an annular plate (27). An annular baffle is formed between the second annular groove (25) and the third annular groove (26). The bottom end of the annular baffle has a plurality of first connecting ports (29) arranged at equal distances. The inner wall of the sleeve of the vacuum suction cup (11) has a second connecting port (210). The extrusion assembly (30) is located inside the vacuum suction cup (11) and is used to extrude the conical rubber disc of the vacuum suction cup (11) so that it adheres tightly to the surface of the goods.

2. The track-mounted warehousing robot for intelligent logistics according to claim 1, characterized in that, Multiple first grooves (23) are arranged in a ring on the sleeve of the vacuum suction cup (11). Multiple first grooves (23) are connected to the first annular groove (22). There is a supporting end between every two first grooves (23). A lifting plate (24) is slidably connected to the inner wall of each first groove (23). The bottom of multiple lifting plates (24) is fixed to the top of the sleeve of the auxiliary suction cup (21) to drive the auxiliary suction cup (21) to slide towards the suction port of the vacuum suction cup (11) to suction and grab the goods.

3. The track-mounted warehousing robot for intelligent logistics according to claim 2, characterized in that, A first return spring (28) is fixed to the top of each of the support ends.

4. The track-mounted warehousing robot for intelligent logistics according to claim 3, characterized in that, Multiple first connecting ports (29) are arranged in a ring on the annular baffle wall, each first connecting port (29) corresponds to a support end, and each first connecting port (29) is located above the corresponding support end.

5. The track-mounted warehousing robot for intelligent logistics according to claim 4, characterized in that, The second connecting port (210) is connected to 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). The lower annular block (211) is used to control the opening and closing state of the second connecting port (210). An upper annular block (212) is provided on the upper side of the lower annular block (211). The outer wall of the upper annular block (212) is fixed on 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). A filter element (214) is fixed at the bottom of the lower annular block (211).

6. The track-mounted warehousing robot for intelligent logistics according to claim 5, characterized in that, The extrusion assembly (30) includes an outer ring (31) disposed outside the vacuum suction cup (11). An annular tube (33) is disposed on the lower side of the outer ring (31) for extruding the conical rubber disc of the vacuum suction cup (11) in close contact with the surface of the goods. Multiple lifting columns (32) are fixed at the top of the annular tube (33). The multiple lifting columns (32) are arranged in a ring on the outer ring (31). Multiple sliding holes that are equally spaced and adapted to the lifting columns (32) are opened on the outer ring (31). Each sliding hole corresponds to a lifting column (32). The lifting column (32) is slidably connected inside the sliding hole.

7. The track-mounted warehousing robot for intelligent logistics according to claim 6, characterized in that, Each of the lifting columns (32) has a sleeve (34) fixed to its outer wall. A third return spring (35) is fixed between the bottom of each sleeve (34) and the top of the outer ring (31) to support the sleeve (34).

8. The track-mounted warehousing robot for intelligent logistics according to claim 7, characterized in that, The inner wall of the vacuum suction cup (11) sleeve is provided with multiple equidistant limiting grooves (36) and receiving grooves (37). The multiple 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). The limiting groove (36) is connected to the corresponding receiving groove (37). Each receiving groove (37) is slidably connected to a push plate (38). The outer wall of the lower annular block (211) is fixed with a linkage plate (39).

9. The track-mounted warehousing robot for intelligent logistics according to claim 8, characterized in that, The vacuum suction cup (11) is provided with a cleaning component (40). The cleaning component (40) includes a first linkage ring (41) rotatably connected to the bottom of the filter element (214). The outer wall of the first linkage ring (41) is symmetrically fixed with a first side plate (42). 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). The outer wall of the first linkage ring (41) is fixed with a plurality of cleaning components (43) arranged at equal distances. The plurality of cleaning components (43) are arranged in a ring on the first linkage ring (41) for cleaning the surface of the filter element (214).

10. The track-mounted warehousing robot for intelligent logistics according to claim 9, characterized in that, The first linkage ring (41) has a linkage shaft (44) inside. One end of the linkage shaft (44) has a threaded groove (45). The inner wall of the first linkage ring (41) has a protrusion, which is slidably connected inside the threaded groove (45).

Images