Self-adaptive gripper for bagged goods

Abstract

The invention belongs to the technical field of stacking and unstacking grippers, and particularly relates to a bagged cargo self-adaptive gripper which comprises a fixing shell, a connecting assembly is arranged at the top end of the fixing shell, and the connecting assembly is used for detachably installing the fixing shell on a mechanical arm; the two-way opening and closing assembly is fixedly arranged at the top end of the fixed shell, and the two-way opening and closing assembly is provided with two free ends; the two clamping jaw assemblies are correspondingly and fixedly connected to the two free ends of the two-way opening and closing assembly; and the negative pressure suction assembly is arranged in the fixed shell, and the negative pressure suction assembly is used for carrying out negative pressure suction on the bagged goods. The requirements of truck single-bag loading to ton bag stacking and ton bag stacking to truck single-bag loading can be met.

Description

Technical Field

[0001] The present invention belongs to the technical field of code unstacking grippers, and particularly relates to an adaptive gripper for bagged goods. Background Art

[0002] The intelligent warehousing system for bagged goods involves inbound and outbound operations. The inbound operation refers to the management environment where bagged goods are transported by truck, unloaded, and then transferred to bulk bags for storage; the outbound operation refers to the transfer from bulk bag storage to truck transportation of bagged goods. Both the transfer from single-bag loading on the truck to bulk bag palletizing and the transfer from bulk bag palletizing to single-bag loading on the truck involve palletizing and depalletizing problems. However, the existing grippers of robotic arms and robots can no longer meet the requirements of the above scenarios.

[0003] Therefore, it is necessary to design an adaptive gripper for bagged goods to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide an adaptive gripper for bagged goods to solve the above problems and achieve the purpose of meeting the requirements of the transfer from single-bag loading on the truck to bulk bag palletizing and the transfer from bulk bag palletizing to single-bag loading on the truck.

[0005] To achieve the above purpose, the present invention provides the following solution: An adaptive gripper for bagged goods, comprising

[0006] A fixed shell, with a connection component provided at the top, and the connection component is used to detachably mount the fixed shell on a robotic arm;

[0007] A two-way opening and closing component, fixedly arranged at the top of the fixed shell, and the two-way opening and closing component has two free ends;

[0008] Two jaw components, correspondingly and fixedly connected to the two free ends of the two-way opening and closing component;

[0009] A negative pressure suction component, arranged inside the fixed shell, and the negative pressure suction component is used to perform negative pressure suction on bagged goods.

[0010] Based on the adaptive gripper for bagged goods of the present invention, the two-way opening and closing component includes a first motor, the first motor is fixedly connected to the top of the fixed shell, one end of a first double-headed lead screw is fixedly connected to the output end of the first motor, the other end of the first double-headed lead screw is rotatably connected to a first fixed seat, the first fixed seat is fixedly connected to the top of the fixed shell, the thread directions of the two ends of the first double-headed lead screw are opposite, the two ends of the first double-headed lead screw are respectively threadedly connected with sliders, the bottom ends of the sliders are in sliding contact with the top of the fixed shell, the top parts of the side walls of the two sliders away from each other are respectively fixedly connected to one end of a horizontal connecting rod, the other end of the horizontal connecting rod is fixedly connected to a lifting adjustment part, the bottom end of the lifting adjustment part is fixedly connected to a fixed rod, and the jaw component is fixedly connected to the fixed rod.

[0011] An adaptive gripper for bagged goods based on the present invention, wherein the lifting and adjusting part includes a first telescopic rod, the first telescopic rod is vertically arranged and its top end is fixedly connected to the end of the horizontal connecting rod, and the fixed rod is fixedly connected to the bottom end of the first telescopic rod.

[0012] An adaptive gripper for bagged goods based on the present invention, wherein the jaw assembly includes a fixed frame, the fixed frame is fixedly connected to the fixed rod, and a plurality of jaw mechanisms are respectively fixedly connected to the side walls of the two fixed frames close to each other, and the plurality of jaw mechanisms are arranged at equal intervals along the length direction of the fixed frame.

[0013] An adaptive gripper for bagged goods based on the present invention, wherein the jaw mechanism includes a fixed plate, the fixed plate is fixedly connected to the side wall of the fixed frame, two first rotating shafts are respectively fixedly connected to both ends of the bottom of the fixed plate, a rotating plate is rotatably connected to the two first rotating shafts together, a strip-shaped through hole is formed in the rotating plate, an elastic arc plate is fixedly connected in the strip-shaped through hole, the elastic arc plate protrudes upward, and one ends of an angle adjusting part are respectively fixedly connected to the two opposite long side walls of the rotating plate, and the other ends of the angle adjusting part are fixedly connected to the side wall of the fixed plate.

[0014] An adaptive gripper for bagged goods based on the present invention, wherein the angle adjusting part includes a first connecting shaft, the first connecting shaft is fixedly connected to the side wall of the rotating plate, one end of a second telescopic rod is rotatably connected to the first connecting shaft, the other end of the second telescopic rod is rotatably connected to a second connecting shaft, and the second connecting shaft is fixedly connected to the side wall of the fixed plate.

[0015] An adaptive gripper for bagged goods based on the present invention, wherein the negative pressure suction assembly includes an adjustment driving part, the adjustment driving part is fixedly arranged in the middle of the inner bottom wall of the fixed shell, the output end of the adjustment driving part is rotatably connected to a plurality of adjustment execution parts, the plurality of adjustment execution parts are arranged at equal intervals along the circumference of the adjustment driving part, the adjustment execution parts are slidably arranged in a long sliding hole formed in the bottom wall of the fixed shell, the bottom end of the adjustment execution part is fixedly connected to a negative pressure suction part, and the plurality of negative pressure suction parts are fixedly communicated with a negative pressure machine together, and the negative pressure machine is fixedly arranged at the top of the fixed shell.

[0016] An adaptive gripper for bagged goods based on the present invention, wherein the adjustment driving part includes a second motor, the second motor is fixedly connected to the middle of the inner bottom wall of the fixed shell, a connecting seat is fixedly connected to the output shaft of the second motor, a plurality of fixed connecting rods are fixedly connected to the outer side wall of the connecting seat, the plurality of fixed connecting rods are arranged at equal intervals along the circumference of the connecting seat, and the adjustment execution part is rotatably connected to the fixed connecting rod.

[0017] An adaptive gripper for bagged goods based on the present invention, the adjustment execution part includes a third telescopic rod, one end of the third telescopic rod is rotatably connected to the fixed connecting rod, the other end of the third telescopic rod is fixedly connected with a collar, a connecting rod is rotatably connected inside the collar, the bottom end of the connecting rod is movably connected with a sliding seat, the sliding seat is slidably arranged in the long sliding hole, and the negative pressure suction part is fixedly connected to the bottom end of the sliding seat.

[0018] An adaptive gripper for bagged goods based on the present invention, the negative pressure suction part includes a sleeve, the top end of the sleeve is fixedly connected to the bottom end of the sliding seat, the bottom end of the sleeve is slidably connected with a sliding rod, the bottom end of the sliding rod is fixedly connected with a negative pressure suction head, the negative pressure suction head is fixedly communicated with the negative pressure machine, a first spring is sleeved outside the sleeve and the sliding rod together, and both ends of the first spring are fixedly connected to the sliding seat and the negative pressure suction head respectively.

[0019] Compared with the prior art, the present invention has the following advantages and technical effects:

[0020] Through the provided connection component, the adaptive gripper can be conveniently installed on or removed from the robotic arm in the present invention, realizing the convenient installation and disassembly of the adaptive gripper. The provided negative pressure suction component can suck and transfer the bagged goods through the generated negative pressure. The provided two-way opening and closing component can drive the two jaw components to approach or move away from each other. After the negative pressure suction component completes the suction of the bagged goods, the two jaw components approach each other and are located at the bottom of the bagged goods, playing an auxiliary supporting role for the bagged goods to prevent the bagged goods from accidentally falling. After the bagged goods are transferred to the target position, the two jaw components move away from each other and open, and the negative pressure suction component stops generating negative pressure, and the bagged goods automatically fall at the target position. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts:

[0022] Figure 1 It is a schematic diagram of the whole of the present invention;

[0023] Figure 2 It is a schematic diagram of the two-way opening and closing component of the present invention;

[0024] Figure 3 It is a schematic diagram of the jaw mechanism of the present invention;

[0025] Figure 4 It is a schematic diagram of the negative pressure suction component of the present invention;

[0026] Figure 5 Schematic diagram of the negative pressure suction part of the present invention;

[0027] Figure 6 Schematic diagram of the second embodiment of the present invention;

[0028] Figure 7 Schematic diagram of the third embodiment of the present invention;

[0029] Figure 8 is Figure 7 Partial enlarged view of A in

[0030] Wherein, 1, fixed shell; 2, vertical connecting rod; 3, base; 4, connecting platform; 5, top plate; 6, negative pressure machine; 7, counterweight; 8, protective shell; 9, first motor; 10, first bidirectional lead screw; 11, first fixed seat; 12, slider; 13, horizontal connecting rod; 14, first telescopic rod; 15, fixed rod; 16, fixed frame; 17, fixed plate; 18, first rotating shaft; 19, rotating plate; 20, strip-shaped through hole; 21, elastic arc plate; 22, first connecting shaft; 23, second telescopic rod; 24, second connecting shaft; 25, second motor; 26, connecting seat; 27, fixed connecting rod; 28, third telescopic rod; 29, collar; 30, connecting rod; 31, sliding seat; 32, long sliding hole; 33, sleeve; 34, first spring; 35, negative pressure suction head; 36, fourth motor; 37, fourth bidirectional lead screw; 38, fourth fixed seat; 39, fifth fixed seat; 40, optical rod; 41, connecting arc plate; 42, roller; 43, fixed connecting plate; 44, limiting platform; 45, second spring; 46, lifting sliding rod; 47, rotating shaft; 48, sliding rod. Specific embodiments

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] Intelligent warehousing is a link in the logistics process. The application of intelligent warehousing ensures the speed and accuracy of data input in all aspects of warehouse management of goods, enabling enterprises to promptly and accurately grasp the real data of inventory and reasonably maintain and control the inventory of enterprises. Through scientific coding, it is also convenient to manage the batches, shelf life, etc. of the goods in the warehouse. By using the location management function of the SNHGES system, the current locations of all the inventory goods can be grasped in a timely manner, which is conducive to improving the work efficiency of warehouse management.

[0034] The establishment of an intelligent warehousing system requires the strong support of the Internet of Things. Inside modern warehousing systems, not only are the items complex, with different shapes and performances, but also the operation processes are complex, involving storage, movement, sorting, and combination. Therefore, in intelligent logistics centers with warehousing as the core, intelligent technologies such as automatic control technology, intelligent robot stacking technology, intelligent information management technology, mobile computing technology, and data mining technology are often adopted. In view of the above situations, the application of the Internet of Things can simplify the complex and greatly improve the efficiency of the entire logistics distribution.

[0035] In the application of the Internet of Things, there are mainly several characteristics: First, the application of sensing technology is relatively good. The Internet of Things sensing technology most widely used in the warehousing industry is the RFID technology. In some advanced warehousing and distribution centers, RFID tags and intelligent wireless radio frequency (RF) handheld terminals are widely used. This is because when the RFID technology is combined with the pallet system and applied in a closed loop in the warehousing and distribution center, it can effectively reduce costs. We also know that in ordinary warehousing systems, in addition to the wide application of the automatic identification technology based on barcodes, the "electronic label-assisted picking system" also has a certain application. The so-called electronic label here does not refer to the RFID tag, but a system that uses electronic indicating labels for picking operations. Using this system, after the inbound and outbound orders are decomposed by the computer system, they are transmitted to each storage location on the shelf, and the electronic display technology is used to guide the picking-assisted picking system. This system is simple and practical and has a wide application.

[0036] The biggest trend in modern logistics is networking and intelligence. Inside manufacturing enterprises, modern warehousing and distribution centers are often integrated with the enterprise production system. As a part of the production system, the warehousing system plays a very important role in the enterprise production management. Therefore, the development of warehousing technology is not separated from the company's business, and integration and cooperation with other links are more conducive to the development of the warehousing industry.

[0037] The manipulator mainly consists of three major parts: the execution mechanism, the drive mechanism, and the control system. The hand is the part used to grasp the workpiece, and there are various structural forms according to the shape, size, weight, material, and operation requirements of the grasped object, such as the clamping type, the supporting type, and the adsorption type, etc. The motion mechanism enables the hand to complete various rotational, translational, or composite motions to achieve the specified actions and change the position and posture of the grasped object. The independent motion modes such as lifting, telescoping, and rotating of the motion mechanism are called the degrees of freedom of the manipulator. In order to grasp an object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter in the design of the manipulator. The more degrees of freedom, the greater the flexibility, the wider the versatility, and the more complex its structure. Generally, a special manipulator has 2 to 3 degrees of freedom. The control system controls the motors of each degree of freedom of the manipulator to complete specific actions. At the same time, it receives the information fed back by the sensors to form a stable closed-loop control. The core of the control system usually consists of a microcontroller chip such as a single-chip microcomputer or a DSP, and realizes the required functions through programming.

[0038] The execution mechanism of the manipulator is divided into the hand, the arm, and the torso;

[0039] 1. Hand

[0040] The hand is installed at the front end of the arm. A transmission shaft is installed in the inner hole of the arm, which can transmit the motion to the wrist to rotate, flex the wrist, and open and close the fingers.

[0041] The structure of the hand of the manipulator imitates the human finger and is divided into 3 types: non-articulated, fixed joint, and free joint. The number of fingers can also be divided into two fingers, three fingers, four fingers, etc., among which two fingers are used the most. Various shapes and sizes of chucks can be equipped according to the shape and size of the clamped object to meet the needs of the operation. The so-called hand without fingers generally refers to a vacuum chuck or a magnetic chuck.

[0042] 2. Arm

[0043] The function of the arm is to guide the fingers to accurately grasp the workpiece and transport it to the required position. In order for the manipulator to work correctly, the 3 degrees of freedom of the arm must be accurately positioned.

[0044] 3. Torso The torso is the bracket for installing the arm, the power source, and various execution mechanisms.

[0045] Drive mechanism

[0046] There are mainly 4 types of drive mechanisms used in manipulators: hydraulic drive, pneumatic drive, electric drive, and mechanical drive. Among them, hydraulic drive and pneumatic drive are used the most.

[0047] 1. Hydraulic drive type

[0048] Hydraulic-driven manipulators usually consist of a hydraulic motor, servo valve, oil pump, oil tank, etc. to form a drive system, which drives the manipulator's actuating mechanism to work. Usually, it has a large lifting capacity, and its characteristics are compact structure, stable movement, shock resistance, vibration resistance, and good explosion-proof performance. However, hydraulic components require high manufacturing precision and sealing performance. Otherwise, oil leakage will pollute the environment.

[0049] 2. Pneumatic-driven

[0050] Its drive system usually consists of cylinders, air valves, air tanks, and air compressors. Its characteristics are convenient air source, rapid action, simple structure, low cost, and easy maintenance. However, it is difficult to control the speed, and the air pressure cannot be too high, so the lifting capacity is low.

[0051] 3. Electric-driven Electric drive is the most widely used drive method for manipulators. Its characteristics are convenient power supply, fast response, large driving force, convenient signal detection, transmission, and processing, and various flexible control schemes can be adopted. The driving motors generally use stepper motors and DC servo motors as the main driving methods. Since the motor speed is high, a speed reduction mechanism is usually required. Some manipulators have begun to use high-torque, low-speed motors without a speed reduction mechanism for direct drive, which can not only simplify the mechanism but also improve the control accuracy.

[0052] 4. Mechanical-driven

[0053] Mechanical drive is only used in occasions with fixed actions. Generally, a cam-linkage mechanism is used to achieve the specified actions. Its characteristics are reliable action, high working speed, and low cost, but it is not easy to adjust.

[0054] There are also hybrid drives, such as liquid-gas or electro-hydraulic hybrid drives.

[0055] Control System

[0056] The control elements of a manipulator include the working sequence, arrival position, action time, movement speed, acceleration and deceleration, etc. The control of a manipulator is divided into two types: point-to-point control and continuous path control.

[0057] The control system can be designed to adopt digital sequence control according to the action requirements. First, the program needs to be compiled and stored, and then according to the specified program, the manipulator is controlled to work. The storage methods of the program are divided into two types: separate storage and centralized storage. Separate storage stores the information of various control factors in more than two storage devices respectively. For example, the sequence information is stored in plug boards, cam drums, punched tapes, etc.; the position information is stored in time relays, constant-speed rotary drums, etc.; centralized storage stores the information of various control factors in one storage device, such as magnetic tapes, magnetic drums, etc. This method is used in occasions where sequence, position, time, speed, etc. must be controlled simultaneously, that is, in the case of continuous control.

[0058] Among them, the plug board is used in occasions where the program needs to be changed quickly. To change to another program, only need to replace one kind of plug board, and the same plug-in unit can be used repeatedly; the program length accommodated by the punched tape is not limited, but if an error occurs, the whole tape needs to be replaced; the information capacity of the punched card is limited, but it is convenient to replace, store and can be reused; the magnetic core and magnetic drum are only applicable to occasions with a relatively large storage capacity. As for which control element to choose, it is determined according to the complexity and accuracy of the action.

[0059] For a manipulator with complex actions, a teaching playback type control system is adopted. For a more complex manipulator, a digital control system, a system controlled by a minicomputer or a microprocessor is adopted.

[0060] The control system uses the plug board the most, followed by the cam drum. It is equipped with many cams, and each cam is assigned to a motion axis. When the drum rotates one week, a cycle is completed.

[0061] Embodiment 1:

[0062] Refer to Figures 1 to 5 As shown, this embodiment provides an adaptive gripper for bagged goods, including

[0063] A fixed shell 1, with a connection component arranged at the top, and the connection component is used to detachably mount the fixed shell 1 on the robotic arm;

[0064] A bidirectional opening and closing component, fixedly arranged at the top of the fixed shell 1, and the bidirectional opening and closing component has two free ends;

[0065] Two jaw components, correspondingly and fixedly connected to the two free ends of the bidirectional opening and closing component;

[0066] A negative pressure suction component, arranged inside the fixed shell 1, and the negative pressure suction component is used to perform negative pressure suction on the bagged goods.

[0067] The connection component can conveniently mount the adaptive gripper on the robotic arm or detach it from the robotic arm, realizing the convenient installation and disassembly of the adaptive gripper. The arranged negative pressure suction component can suck and transfer the bagged goods through the generated negative pressure. The arranged bidirectional opening and closing component can drive the two jaw components to approach or move away from each other. After the negative pressure suction component completes the suction of the bagged goods, the two jaw components approach each other and are located at the bottom of the bagged goods, playing an auxiliary supporting role for the bagged goods to prevent the bagged goods from accidentally falling. After the bagged goods are transferred to the target position, the two jaw components move away from each other and open, and the negative pressure suction component stops generating negative pressure, and the bagged goods automatically fall on the target position.

[0068] As a structure that can be added in this embodiment, the connecting component is fixed to the top of the fixed shell 1 through several vertical connecting rods 2. The connecting component includes a base 3, the base 3 is fixedly connected to the top of the vertical connecting rod 2, a connecting platform 4 is fixedly connected to the middle of the top of the base 3, and a top plate 5 is fixedly connected to the top of the connecting platform 4. When installing the gripper on the robotic arm, it only needs to fix and position the top plate 5 on the robotic arm.

[0069] Furthermore, the bidirectional opening and closing component includes a first motor 9, the first motor 9 is fixedly connected to the top of the fixed shell 1, one end of a first bidirectional lead screw 10 is fixedly connected to the output end of the first motor 9, the other end of the first bidirectional lead screw 10 is rotatably connected to a first fixed seat 11, the first fixed seat 11 is fixedly connected to the top of the fixed shell 1, the thread directions of both ends of the first bidirectional lead screw 10 are opposite, two sliders 12 are respectively threadedly connected to both ends of the first bidirectional lead screw 10, the bottom ends of the sliders 12 are in sliding contact with the top of the fixed shell 1, the top parts of the side walls of the two sliders 12 away from each other are respectively fixedly connected to one end of a horizontal connecting rod 13, the other end of the horizontal connecting rod 13 is fixedly connected to a lifting and adjusting part, and a fixed rod 15 is fixedly connected to the bottom end of the lifting and adjusting part. The jaw assembly is fixedly connected to the fixed rod 15.

[0070] When the first motor 9 works, it drives the first bidirectional lead screw 10 to rotate. Since the thread directions of both ends of the first bidirectional lead screw 10 are opposite, when the first bidirectional lead screw 10 rotates in one direction, the mutual approaching or mutual separation of the two sliders 12 can be realized, and further the opening and closing actions of the two jaw assemblies can be realized.

[0071] As a structure that can be added in this embodiment, a protective shell 8 is provided outside the first motor 9, the first bidirectional lead screw 10, the first fixed seat 11 and the slider 12. The protective shell 8 has a protective effect and can prevent the parts inside it from being accidentally damaged. The horizontal connecting rod 13 slides through the side wall of the protective shell 8.

[0072] Furthermore, the lifting and adjusting part includes a first telescopic rod 14. The first telescopic rod 14 is vertically arranged and its top end is fixedly connected to the end of the horizontal connecting rod 13. The fixed rod 15 is fixedly connected to the bottom end of the first telescopic rod 14.

[0073] The telescopic movement of the first telescopic rod 14 can adjust the height position of the jaw assembly, so that the gripper can grab and transport goods of different volumes.

[0074] Furthermore, the jaw assembly includes a fixed frame 16. The fixed frame 16 is fixedly connected to the fixed rod 15. A number of jaw mechanisms are respectively fixedly connected to the side walls of the two fixed frames 16 close to each other. The number of jaw mechanisms are arranged at equal intervals along the length direction of the fixed frame 16.

[0075] Further, the jaw mechanism includes a fixing plate 17, which is fixedly connected to the side wall of the fixed frame 16. At both ends of the bottom of the fixing plate 17, a first rotating shaft 18 is fixedly connected respectively. A rotating plate 19 is rotatably connected by the two first rotating shafts 18. A strip-shaped through hole 20 is formed inside the rotating plate 19, and an elastic arc plate 21 is fixedly connected inside the strip-shaped through hole 20. The elastic arc plate 21 protrudes upward. One ends of an angle adjustment part are fixedly connected to the two opposite long side walls of the rotating plate 19 respectively, and the other ends of the angle adjustment part are fixedly connected to the side wall of the fixing plate 17.

[0076] Further, the angle adjustment part includes a first connecting shaft 22, which is fixedly connected to the side wall of the rotating plate 19. One end of a second telescopic rod 23 is rotatably connected to the first connecting shaft 22, and the other end of the second telescopic rod 23 is rotatably connected to a second connecting shaft 24, which is fixedly connected to the side wall of the fixing plate 17.

[0077] When the negative pressure suction component sucks the goods, the rotating plate 19 is in a retracted state. After the goods are sucked and fixed, the second telescopic rod 23 extends to open the rotating plate 19. Then, the first motor 9 drives the first bidirectional lead screw 10 to rotate, so that the two rotating plates 19 at both ends approach each other and support the goods from the bottom. When supporting, the elastic arc plate 21 exerts a supporting force on the goods. Since the elastic arc plate 21 itself has elasticity, there will be a buffering process when exerting the supporting force on the goods, preventing damage to the goods caused by hard contact.

[0078] Further, the negative pressure suction component includes an adjustment driving part, which is fixedly arranged in the middle of the inner bottom wall of the fixed shell 1. The output end of the adjustment driving part is rotatably connected with a plurality of adjustment execution parts. The plurality of adjustment execution parts are arranged at equal intervals along the circumference of the adjustment driving part. The adjustment execution parts are slidably arranged in a long sliding hole 32 formed in the bottom wall of the fixed shell 1. The bottom end of the adjustment execution part is fixedly connected with a negative pressure suction part. A plurality of negative pressure suction parts are fixedly communicated with a negative pressure machine 6, and the negative pressure machine 6 is fixedly arranged at the top end of the fixed shell 1.

[0079] As a structure that can be added in this embodiment, a negative pressure suction part is also fixedly connected to the middle of the bottom end of the fixed shell 1. When the size of the bagged goods to be transferred is small, the surrounding negative pressure suction parts can be adjusted by the adjustment execution parts to approach the negative pressure suction part in the middle position, so as to suck the goods. When the size of the bagged goods to be transferred is large, the distance between the surrounding negative pressure suction parts and the negative pressure suction part in the middle can be increased, so as to ensure that all the negative pressure suction parts can stably suck and transfer the goods.

[0080] Further, the adjustment driving part includes a second motor 25, which is fixedly connected to the middle of the inner bottom wall of the fixed shell 1. The output shaft of the second motor 25 is fixedly connected with a connecting seat 26. A plurality of fixed connecting rods 27 are fixedly connected to the outer side wall of the connecting seat 26. The plurality of fixed connecting rods 27 are arranged at equal intervals in the circumferential direction of the connecting seat 26. The adjustment execution part is rotationally connected with the fixed connecting rods 27.

[0081] Further, the adjustment execution part includes a third telescopic rod 28. One end of the third telescopic rod 28 is rotationally connected with the fixed connecting rod 27. The other end of the third telescopic rod 28 is fixedly connected with a collar 29. A connecting rod 30 is rotationally connected inside the collar 29. The bottom end of the connecting rod 30 is movably connected with a sliding seat 31. The sliding seat 31 is slidably arranged in the long sliding hole 32. The negative pressure suction part is fixedly connected to the bottom end of the sliding seat 31.

[0082] When the second motor 25 works, it drives the connecting seat 26 and the fixed connecting rods 27 to rotate. During the rotation of the two, it drives the sliding seat 31 and the negative pressure suction part to move. At the same time, due to the limiting effect of the long sliding hole 32 in the second version, the negative pressure suction part can move in the directions of approaching and departing from the center of the fixed shell 1, so as to perform negative pressure suction on bagged goods of different sizes.

[0083] Further, the negative pressure suction part includes a sleeve 33. The top end of the sleeve 33 is fixedly connected to the bottom end of the sliding seat 31. A sliding rod 48 is slidably connected to the bottom end of the sleeve 33. The bottom end of the sliding rod 48 is fixedly connected with a negative pressure suction head 35. The negative pressure suction head 35 is fixedly communicated with the negative pressure machine 6. A first spring 34 is sleeved outside the sleeve 33 and the sliding rod 48. The two ends of the first spring 34 are respectively fixedly connected to the sliding seat 31 and the negative pressure suction head 35.

[0084] The design of the sleeve 33, the sliding rod 48 and the first spring 34 can adjust the distance of the negative pressure suction head 35 relative to the bottom end of the fixed shell 1. In this way, it can be ensured that when sucking and transporting bagged goods with uneven surfaces, all the negative pressure suction heads 35 can apply negative pressure suction force to the goods.

[0085] As a structure that can be added in this embodiment, a counterweight 7 is fixedly arranged at the top end of the fixed shell 1. The counterweight 7 and the negative pressure machine 6 are respectively located at both ends of the fixed shell 1 to enable the gripper to operate stably.

[0086] Embodiment 2:

[0087] Refer to Figure 6As shown in the figure, the difference between this embodiment and the first embodiment is that a spacing adjustment mechanism is fixedly connected to the side wall of the fixed frame 16. The jaw assembly includes three jaw mechanisms. The jaw mechanism in the middle is fixedly connected to the side wall of the fixed frame 16, and the jaw assemblies at both ends are threadedly connected to both ends of the spacing adjustment mechanism. The spacing adjustment mechanism includes a fourth motor 36, which is fixedly connected to the side wall of the fixed frame 16. One end of the output shaft of the fourth motor 36 is fixedly connected to one end of a fourth bidirectional lead screw 37, and the other end of the fourth bidirectional lead screw 37 is rotatably connected to a fourth fixed seat 38, which is fixedly connected to the side wall of the fixed frame 16. The bottom of the side wall of the fixed frame 16 is fixedly connected to a smooth rod 40 through two fifth fixed seats 39. The smooth rod 40 is parallel to the fourth bidirectional lead screw 37. The fourth bidirectional lead screw 37 movably passes through the top of the jaw mechanism in the middle, and the jaw mechanisms at both ends are threadedly connected to both ends of the fourth bidirectional lead screw 37. A number of connecting arc plates 41 are fixedly connected between any two adjacent jaw mechanisms. By changing the distance between two adjacent jaw mechanisms, the radian of the connecting arc plate 41 can be adjusted, so that the connecting arc plate 41 can support goods of different sizes and can also provide different shock absorption and buffering for the goods, greatly improving the stability during the transfer of goods.

[0088] Embodiment Three:

[0089] Referring to Figures 7 to 8 As shown in the figure, the difference between this embodiment and the first embodiment is that a number of rolling support components are fixedly connected to the strip-shaped through holes 20 of each rotating plate 19. Each rolling support component includes two fixed connecting plates 43 arranged at intervals. The two fixed connecting plates 43 are arranged in parallel and fixedly connected to the inner side wall of the strip-shaped through hole 20. A lifting slide rod 46 is slidably connected to the middle of each fixed connecting plate 43. The bottom end of the lifting slide rod 46 is fixedly connected to a limiting platform 44. A second spring 45 is sleeved outside the lifting slide rod 46. The two ends of the second spring 45 are respectively fixedly connected to the fixed connecting plate 43 and the limiting platform 44. The tops of the two lifting slide rods 46 are rotatably connected to a roller 42 through two rotating shafts 47. In this embodiment, when adjusting the distance between two adjacent rotating plates 19, the rolling contact between the roller 42 and the goods can be used to replace the frictional contact between the rotating plate 19 and the goods, improving the safety of goods transfer.

[0090] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0091] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope of the present invention.

Claims

1. An adaptive gripper for bagged goods, characterized in that: include A fixed shell (1), the top of which is provided with a connection component, the connection component being used to detachably mount the fixed shell (1) on a mechanical arm; A two-way opening and closing component, fixedly arranged on the top of the fixed shell (1), the two-way opening and closing component having two free ends; Two clamping jaw assemblies are fixedly connected to the two free ends of the two-way opening and closing assembly respectively; A negative pressure suction component is arranged in the fixed shell (1), and is used for performing negative pressure suction on bagged goods.

2. The adaptive gripper for bagged goods according to claim 1, characterized in that: The bidirectional opening and closing assembly comprises a first motor (9), the first motor (9) is fixedly connected to the top of the fixed shell (1), the output end of the first motor (9) is fixedly connected to one end of a first bidirectional screw rod (10), the other end of the first bidirectional screw rod (10) is rotatably connected to a first fixed seat (11), the first fixed seat (11) is fixedly connected to the top of the fixed shell (1), the two ends of the first bidirectional screw rod (10) have opposite screw rotation directions, the two ends of the first bidirectional screw rod (10) are respectively threadedly connected to sliders (12), the bottom end of the slider (12) is in sliding contact with the top of the fixed shell (1), the tops of the side walls of the two sliders (12) that are away from each other are respectively fixedly connected to one end of a horizontal connecting rod (13), the other end of the horizontal connecting rod (13) is fixedly connected to a lifting and lowering adjustment part, the bottom end of the lifting and lowering adjustment part is fixedly connected to a fixing rod (15), and the clamping jaw assembly is fixedly connected to the fixing rod (15).

3. The adaptive gripper for bagged goods according to claim 2, characterized in that: The lifting and lowering adjustment part comprises a first telescopic rod (14), the first telescopic rod (14) is vertically arranged and the top end is fixedly connected to the end of the horizontal connecting rod (13), and the fixed rod (15) is fixedly connected to the bottom end of the first telescopic rod (14).

4. The adaptive gripper for bagged goods according to claim 2, characterized in that: The clamping jaw assembly comprises a fixed frame (16), the fixed frame (16) being fixedly connected to the fixed rod (15), and the side walls of the two fixed frames (16) close to each other are respectively fixedly connected with a plurality of clamping jaw mechanisms, and the plurality of clamping jaw mechanisms are arranged at equal intervals along the length direction of the fixed frame (16).

5. The adaptive gripper for bagged goods according to claim 4, characterized in that: The clamping mechanism comprises a fixed plate (17), wherein the fixed plate (17) is fixedly connected to the side wall of the fixed frame (16), and the two ends of the bottom of the fixed plate (17) are respectively fixedly connected to first rotating shafts (18), and the two first rotating shafts (18) are connected to a rotating plate (19) for common rotation, and a strip-shaped through hole (20) is provided inside the rotating plate (19), and an elastic arc plate (21) is fixedly connected inside the strip-shaped through hole (20), and the elastic arc plate (21) protrudes upward, and two relatively long side walls of the rotating plate (19) are respectively fixedly connected to one end of an angle adjustment portion, and the other end of the angle adjustment portion is fixedly connected to the side wall of the fixed plate (17).

6. The adaptive gripper for bagged goods according to claim 5, characterized in that: The angle adjustment portion comprises a first connecting shaft (22), the first connecting shaft (22) being fixedly connected to the side wall of the rotating plate (19), the first connecting shaft (22) being rotatably connected to one end of a second telescopic rod (23), the other end of the second telescopic rod (23) being rotatably connected to a second connecting shaft (24), and the second connecting shaft (24) being fixedly connected to the side wall of the fixed plate (17).

7. The adaptive gripper for bagged goods according to claim 1, characterized in that: The negative pressure suction component comprises an adjustment drive part, the adjustment drive part is fixedly arranged in the middle of the inner bottom wall of the fixed shell (1), the output end of the adjustment drive part is rotatably connected to a plurality of adjustment execution parts, the plurality of adjustment execution parts are arranged at equal intervals along the circumference of the adjustment drive part, the adjustment execution parts are slidably arranged in a long sliding hole (32) provided in the bottom wall of the fixed shell (1), the bottom end of the adjustment execution part is fixedly connected to a negative pressure suction part, the plurality of negative pressure suction parts are fixedly connected to a negative pressure machine (6), and the negative pressure machine (6) is fixedly arranged at the top end of the fixed shell (1).

8. The adaptive gripper for bagged goods according to claim 7, characterized in that: The adjustment drive unit comprises a second motor (25), the second motor (25) is fixedly connected to the middle part of the inner bottom wall of the fixed shell (1), the output shaft of the second motor (25) is fixedly connected to a connecting seat (26), the outer side wall of the connecting seat (26) is fixedly connected to a plurality of fixed connecting rods (27), the plurality of fixed connecting rods (27) are arranged at equal intervals along the circumference of the connecting seat (26), and the adjustment execution unit is rotationally connected to the fixed connecting rods (27).

9. The adaptive gripper for bagged goods according to claim 8, characterized in that: The adjustment execution part comprises a third telescopic rod (28), one end of the third telescopic rod (28) is rotatably connected to the fixed connecting rod (27), the other end of the third telescopic rod (28) is fixedly connected to a collar (29), a connecting rod (30) is rotatably connected inside the collar (29), a sliding seat (31) is movably connected to the bottom end of the connecting rod (30), the sliding seat (31) is slidably arranged in the long sliding hole (32), and the negative pressure suction part is fixedly connected to the bottom end of the sliding seat (31).

10. The adaptive gripper for bagged goods according to claim 9, characterized in that: The negative pressure suction part includes a sleeve (33), the top end of the sleeve (33) is fixedly connected to the bottom end of the slide seat (31), the bottom end of the sleeve (33) is slidably connected to a slide rod (48), the bottom end of the slide rod (48) is fixedly connected to a negative pressure suction head (35), the negative pressure suction head (35) is fixedly connected to the negative pressure machine (6), and the sleeve (33) and the outer side of the slide rod (48) are jointly sleeved with a first spring (34), and the two ends of the first spring (34) are respectively fixedly connected to the slide seat (31) and the negative pressure suction head (35).

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