Goods stacking device for logistics full-automatic stereoscopic warehouse

Abstract

The goods stacking device for the logistics full-automatic stereoscopic warehouse relates to the technical field of warehouse logistics and comprises a mechanical arm, a suction cup is arranged at the end of the mechanical arm, an air pump is fixedly installed on one side of the mechanical arm, a hose is arranged between the air pump and the suction cup, a first electromagnetic valve is installed on the hose, and a second electromagnetic valve is installed on the second electromagnetic valve. The device further comprises a suction compensation mechanism and an airflow control mechanism, the suction compensation mechanism comprises a barrel, a pull pipe and a piston are slidably connected into the barrel, a baffle is fixed to the pull pipe, a reset spring is arranged at the bottom of the piston, and a sealing unit is arranged at the bottom end of the pull pipe. A transmission assembly is assembled between the sealing unit and the pull pipe, the suction force of the suction cup is increased through the weight of goods, the reserved redundancy of the suction force of the suction cup can be reduced through the compensation suction force of the part, energy is saved, the compensation suction force can be increased along with the increase of the weight of the goods, and the falling risk during carrying of the goods with different weights is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing logistics, and particularly to a goods palletizing device for a fully automatic three-dimensional warehouse in logistics. Background Art

[0002] A fully automatic three-dimensional warehouse in logistics is a warehousing system that realizes the storage, handling, and management of goods through highly automated technologies and is a core component of modern logistics systems.

[0003] A goods palletizing device is an automated or semi-automated device used to stack and palletize goods according to specific rules and forms, and is widely used in the logistics and warehousing industries. Traditional palletizing devices mainly consist of a robotic arm and a grasping mechanism. The core function is to neatly and stably palletize single-piece or grouped goods (such as cartons, pallets, bags, barreled goods, etc.) at a designated location (such as a pallet, shelf, transport vehicle, etc.) through the coordinated action of mechanical movements, control systems, and actuators, so as to improve the efficiency of goods storage, transportation, and handling, reduce labor costs, and reduce the risk of goods damage.

[0004] In the modern logistics warehousing system, before goods are packed and enter the three-dimensional warehouse, they need to be classified according to weight to facilitate subsequent efficient retrieval and sorting operations. However, even after strict classification, there are still certain weight fluctuations among goods within the same category. To ensure the stable grasping of goods of various weights, the suction force of the suction cups of the palletizing device often needs to have a large redundancy, which not only significantly increases the energy consumption during the operation of the palletizing device but also raises the unit handling cost of the goods, having an adverse impact on the overall economy and efficiency of logistics warehousing. Summary of the Invention

[0005] The purpose of the present invention is to propose a goods palletizing device for a fully automatic three-dimensional warehouse in logistics to solve the problem that there are still certain weight fluctuations among goods within the same category. To ensure the stable grasping of goods of various weights, the suction force of the suction cups of the palletizing device often needs to have a large redundancy, resulting in a significant increase in energy consumption during the operation of the palletizing device.

[0006] To achieve the above purpose, the present invention adopts the following technical solution: A goods palletizing device for a fully automatic three-dimensional warehouse in logistics, including a robotic arm, a suction cup is provided at the end of the robotic arm, an air pump is fixedly installed on one side of the robotic arm, a hose is provided between the air pump and the suction cup, and a solenoid valve I is installed on the hose. It further includes: A suction force compensation mechanism and an air flow control mechanism. The suction force compensation mechanism includes a cylinder body, a pull tube and a piston are slidably connected inside the cylinder body, a baffle is fixed on the pull tube, a return spring is provided at the bottom of the piston, a closing unit is provided at the bottom end of the pull tube, and a transmission component is assembled between the closing unit and the pull tube; Before the goods are lifted by the suction cup, the internal air pressure of the suction cup is reduced by moving the piston downward relative to the cylinder body; when the suction cup fails to adsorb the goods, the closing unit closes the pull pipe.

[0007] As a further description of the above technical solution: The transmission assembly includes a connecting cylinder fixed between the bottom end of the pull pipe and the suction cup. The closing unit includes an upper seal rotatably connected inside the connecting cylinder, and a lower seal is fixed to the inner wall of the connecting cylinder.

[0008] As a further description of the above technical solution: A fixed rod is fixed inside the connecting cylinder, the bottom of the fixed rod is elastically connected with a top rod, and a slider is arranged at the top end of the top rod.

[0009] As a further description of the above technical solution: The air flow control mechanism includes a first connecting pipe fixed between the hose and the cylinder body, a second connecting pipe is fixed to one side of the cylinder body, the second connecting pipe is connected to an air pump through another group of hoses and a first solenoid valve, a second solenoid valve and a third solenoid valve are respectively installed on the first connecting pipe and the second connecting pipe, a sealing ring is fixed to the bottom end of the cylinder body, and a pressure sensor is fixedly installed on one side of the cylinder body.

[0010] As a further description of the above technical solution: The air flow control mechanism includes a flow guiding assembly. The flow guiding assembly includes a one-way valve fixed to the upper seal, a flow guiding cover is fixed inside the connecting cylinder, and a flow guiding shell is fixed inside the suction cup.

[0011] As a further description of the above technical solution: An iron ring is fixed to the top of the cylinder body, and a magnet adsorbed on the iron ring is fixed to the top end of the pull pipe.

[0012] As a further description of the above technical solution: It further includes an adjusting assembly. The adjusting assembly includes a housing fixed to the driving end of the robotic arm, and two mounting boxes for fixedly installing the cylinder body are slidably connected inside the housing.

[0013] As a further description of the above technical solution: A connecting plate is slidably connected inside the housing, an electric telescopic rod with a telescopic end fixed to the connecting plate is installed inside the housing, and push plates are respectively hinged between the connecting plate and the two mounting boxes.

[0014] As a further description of the above technical solution: The bottom end of the top rod is fixedly connected with a bottom plate, and a pressing plate is fixed on the top rod.

[0015] In summary, due to the adoption of the above technology, a goods stacking device for a full-automatic three-dimensional logistics warehouse, the beneficial effects of the present invention are: 1. When this application is used for palletizing, the suction force of the suction cup is increased by the weight of the goods itself. By compensating the suction force in this part, the redundancy reserved for the suction force of the suction cup can be reduced, energy can be saved, and the compensated suction force can increase with the increase of the weight of the goods, reducing the risk of dropping when handling goods of different weights.

[0016] 2. This application is provided with a closing unit, which can close the air circuit where the air-leaking suction cup is located before the goods are lifted, preventing external air from entering the adsorption system of the palletizing device and affecting the operation of the air pump. Thus, the adsorption force of other normal suction cups can be maintained, ensuring that the goods can be stably adsorbed and handled, and reducing the risk of the goods dropping due to insufficient adsorption force.

[0017] 3. After the goods are put down, the piston is reset by the return spring, enabling air to be ejected through the suction cup under the diversion of the diversion cover and the diversion shell. The air flow thrust is used to assist the suction cup to recover its deformation, eliminate the internal stress of the suction cup, extend the service life of the suction cup, and blow away the dust attached to the inner wall of the suction cup, strengthening the sealing between the suction cup and the goods when it is used again. During this process, the diversion component can also make the air flow flow downward in a beam shape and switch positions, further enhancing the cleaning effect of the air flow.

[0018] 4. Through the air flow control mechanism, the internal space of the cylinder on the air circuit where the air-leaking suction cup is located can be utilized to compensate the suction force of the other suction cups, making the force on the goods balanced during handling, avoiding the goods from tilting and shaking, and the distribution position of this part of the compensated suction force can be controlled, further improving the stability of the goods during handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Shows the overall schematic diagram provided according to an embodiment of the present invention; Figure 2 Shows the schematic cross-sectional view of the outer shell provided according to an embodiment of the present invention; Figure 3 Shows the schematic cross-sectional view of the mounting box provided according to an embodiment of the present invention; Figure 4 Shows the schematic cross-sectional view of the cylinder provided according to an embodiment of the present invention; Figure 5 Shows the one provided according to an embodiment of the present invention Figure 4 Enlarged view at A in; Figure 6 Shows the schematic diagram of the piston position relationship provided according to an embodiment of the present invention; Figure 7 Shows the one provided according to an embodiment of the present invention Figure 6 Enlarged view at B in; Figure 8 Shows the exploded view of the closing unit provided according to an embodiment of the present invention; Figure 9Shows the one provided according to an embodiment of the present invention Figure 8 The enlarged view at position C in Figure 10 Schematic diagram of the first air flow path provided according to an embodiment of the present invention Figure 11 Schematic diagram of the second air flow path provided according to an embodiment of the present invention

[0020] Legend description: 10. Robot arm; 11. Air pump; 12. Suction cup; 13. Hose; 14. Solenoid valve 1 20. Suction compensation mechanism; 21. Cylinder body; 22. Pulling pipe; 23. Piston; 24. Return spring; 25. Baffle; 26. Sealing unit; 261. Upper seal; 262. Lower seal; 27. Transmission assembly; 271. Connecting cylinder; 272. Fixed rod; 273. Push rod; 274. Slide block; 28. Bottom plate; 29. Pressing plate 30. Air flow control mechanism; 31. Connecting pipe 1; 32. Solenoid valve 2; 33. Connecting pipe 2; 34. Solenoid valve 3; 35. Sealing ring; 36. Pressure sensor; 37. Flow guiding assembly; 371. Check valve; 372. Flow guiding cover; 373. Flow guiding shell; 38. Iron ring; 39. Magnet 40. Adjusting assembly; 41. Outer shell; 42. Installation box; 43. Push plate; 44. Connecting plate; 45. Electric telescopic rod Detailed implementation manners

[0021] Next, the technical solution of a goods palletizing device for a fully automatic logistics stereoscopic warehouse in an embodiment 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 of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention

[0022] As Figures 1 - 11 shown, a goods palletizing device for a fully automatic logistics stereoscopic warehouse provided by the present invention includes a robot arm 10. Two groups of suction cups 12 are arranged at the end of the robot arm 10. Each group of suction cups 12 is arranged in an equidistant straight line. An air pump 11 is fixedly installed on one side of the robot arm 10. A hose 13 is arranged between the air pump 11 and the suction cups 12. A solenoid valve 14 is installed on the hose 13. After the air pump 11 extracts the air inside the suction cups 12 through the hose 13, the suction cups 12 are adsorbed on the goods, and then the robot arm 10 is used to drive the suction cups 12 to lift the goods and transport them to a designated position for palletizing

[0023] Referring to Figure 2, further comprising an adjustment assembly 40, the adjustment assembly 40 comprising a housing 41 fixed to the driving end of the robotic arm 10, the interior of the housing 41 being horizontally slidably connected to two mounting boxes 42, the interior of the housing 41 being vertically slidably connected to a connecting plate 44 located between the two mounting boxes 42, an electric telescopic rod 45 having a telescopic end fixed to the connecting plate 44 being fixed to the interior of the housing 41, and push plates 43 being hinged between the connecting plate 44 and the two mounting boxes 42; When the electric telescopic rod 45 extends and drives the connecting plate 44 to slide downward inside the shell 41, the connecting plate 44 moves and drives the push plate 43 to pull the two installation boxes 42 synchronously toward the connecting plate 44; when the electric telescopic rod 45 extends and drives the connecting plate 44 to slide upward inside the shell 41, the connecting plate 44 moves and drives the push plate 43 to simultaneously open the two installation boxes 42 in the direction away from the connecting plate 44, thereby achieving the adjustment of the distance between the two installation boxes 42, so that the distance between the two groups of suction cups 12 respectively arranged at the bottom of the installation boxes 42 can be adjusted according to the width of the goods, so that when the goods are adsorbed, the suction force on each part is more uniform, thereby preventing the goods from tilting or falling during transportation due to uneven force.

[0024] Reference Figures 4 - 8 , further comprising a suction compensation mechanism 20, the suction compensation mechanism 20 comprising two groups of cylinders 21 respectively fixedly mounted inside the two mounting boxes 42, each cylinder 21 corresponding to a suction cup 12, a pull tube 22 and a piston 23 being slidably connected inside the cylinder 21, the pull tube 22 passing through the piston 23 and being slidably connected to the piston 23, the piston 23 and the outer wall of the pull tube 22 and the inner wall of the cylinder 21 are all sealed, the top end of the pull tube 22 is in communication with the interior of the cylinder 21, and a baffle 25 in contact with the upper surface of the piston 23 is fixed on the pull tube 22; After the cargo comes into contact with the suction cup 12, the air pump 11 and the hose 13 are used to form a negative pressure inside the suction cup 12, and the solenoid valve 14 is closed. At this time, the cargo is sucked by the suction cup 12, and the robotic arm 10 drives the suction compensation mechanism 20 to move upward. The gravity of the cargo drives the suction cup 12 and the pull tube 22 to move downward relative to the cylinder 21. When the pull tube 22 moves downward, the piston 23 is pressed down by the baffle 25, so that the space in the cylinder 21 connected to the pull tube 22 is increased, and the internal pressure of the suction cup 12 is further reduced, thereby increasing the suction between the suction cup 12 and the cargo. The heavier the cargo, the greater the increased suction force of this part. By compensating the suction force by this part, the redundancy reserved for the suction force of the suction cup 12 can be reduced, saving energy while reducing the risk of falling when carrying cargo of different weights. A return spring 24 is provided at the bottom of the piston 23 to reset the piston 23 after the cargo is transported.

[0025] Reference Figures 7 - 9, To prevent the suction force of the entire adsorption system of the palletizing device from being significantly weakened due to the inability to seal between the suction cup 12 and the cargo box, a closing unit 26 is provided at the bottom end of the drawtube 22. A transmission assembly 27 is assembled between the closing unit 26 and the drawtube 22. The transmission assembly 27 includes a connecting cylinder 271 fixed between the bottom end of the drawtube 22 and the suction cup 12. The closing unit 26 includes an upper seal 261 rotatably connected inside the connecting cylinder 271. A lower seal 262 that fits and seals with the ground of the upper seal 261 is fixed to the inner wall of the connecting cylinder 271. Air holes are provided on both the upper seal 261 and the lower seal 262. When the suction cup 12 leaks air, the air holes of the upper seal 261 and the lower seal 262 are staggered, and the drawtube 22 is sealed by the upper seal 261 and the lower seal 262, closing the air path connected to the leaking suction cup 12, preventing air from entering the adsorption system of the palletizing device, thereby maintaining the adsorption force of other normal suction cups 12, ensuring that the goods can be stably adsorbed and transported, and reducing the risk of the goods falling due to insufficient adsorption force.

[0026] To automatically close the leaking suction cup 12 before the goods are lifted, a fixed rod 272 is fixed inside the connecting cylinder 271. The bottom of the fixed rod 272 is elastically connected to a push rod 273 by a spring. The push rod 273 is slidably connected to the fixed rod 272. A spiral chute is provided on the inner wall of the upper seal 261. A slider 274 is provided at the top of the push rod 273 and is embedded in the chute of the upper seal 261. During the process of the suction cup 12 moving downward to contact and seal the goods, the push rod 273 is pushed upward by the goods, driving the upper seal 261 to deflect through the slider 274 and the chute, so that the air holes of the upper seal 261 and the lower seal 262 are aligned. At this time, the robotic arm 10 can extract the air inside the suction cup 12 through the drawtube 22, causing the suction cup 12 to adsorb the goods.

[0027] By extracting the air in the suction cup 12 that is sealed with the goods through the robotic arm 10, the suction cup 12 adsorbs on the goods. Before the robotic arm 10 drives the cylinder body 21 to move upward to lift the goods, the suction cup 12 adsorbed on the goods will be relatively stationary with the goods, causing the connecting cylinder 271, the fixed rod 272, and the push rod 273 to be relatively stationary with the goods, and the air holes of the upper seal 261 and the lower seal 262 to remain aligned, so that the suction cup 12 maintains a continuous suction force; When extracting the air in the suction cup 12 that is not sealed with the goods through the robotic arm 10, this suction cup 12 will not generate a suction force with the goods. Then the robotic arm 10 lifts the cylinder body 21, driving the piston 23, the drawtube 22, the connecting cylinder 271, and the fixed rod 272 to move upward. The push rod 273 loses the support of the goods and resets under the elastic force of the spring, thereby driving the upper seal 261 to deflect and reset through the slider 274 and the chute of the upper seal 261, causing the air holes of the upper seal 261 and the lower seal 262 to be misaligned, and closing the drawtube 22 in the air path where the suction cup 12 that fails to seal with the goods is located through the closing unit 26.

[0028] The bottom end of the ejector rod 273 is fixedly connected with a bottom plate 28, which increases the contact area between the ejector rod 273 and the goods, avoids damage to the goods due to excessive pressure when the ejector rod 273 is lifted, and when the goods contact and lift the bottom plate 28, the bottom plate 28 can also flatten the surface of the goods through the reaction force, improving the sealing effect when the subsequent suction cup 12 contacts the goods.

[0029] Refer to Figures 2 - 5 , after the suction cup 12 leaks air, there is a difference in the suction force provided by the two groups of suction cups 12. In order to balance the suction force received by the goods and ensure the stable handling of the goods, an air flow control mechanism 30 is further included. The air flow control mechanism 30 includes a first connecting pipe 31 fixed between the hose 13 and the cylinder body 21. A second connecting pipe 33 is fixed on one side of the cylinder body 21. The second connecting pipe 33 is connected to the air pump 11 through another group of hoses 13 and a first electromagnetic valve 14. A second electromagnetic valve 32 and a third electromagnetic valve 34 are respectively installed on the first connecting pipe 31 and the second connecting pipe 33. Both the second electromagnetic valve 32 and the third electromagnetic valve 34 are three-way valves and are provided with filters in the air connection ports. A sealing ring 35 that contacts and seals the pull pipe 22 is fixed at the bottom end of the cylinder body 21, so that a sealed space is formed inside the cylinder body 21 below the piston 23. The sealed spaces above and below the piston 23 inside the cylinder body 21 are respectively called the first cavity and the second cavity. A pressure sensor 36 for monitoring the pressure inside the first cavity of the cylinder body 21 is fixedly installed on one side of the cylinder body 21.

[0030] When there is no air leakage in the suction cup 12, the first electromagnetic valve 14 above the first connecting pipe 31 is in the open state, and the other first electromagnetic valve 14 is closed. The second electromagnetic valve 32 is opened to connect the first connecting pipe 31 and the cylinder body 21, and the third electromagnetic valve 34 connects the second cavity with the outside air. At this time, the air pump 11 extracts the air in the suction cup 12 through the hose 13, the first electromagnetic valve 14, the first connecting pipe 31, the second electromagnetic valve 32, the pull pipe 22 and the connecting cylinder 271, so that the suction cup 12 adsorbs the goods. When lifting the goods, the gravity of the goods pulls the suction cup 12, the connecting cylinder 271, the pull pipe 22, the baffle 25 and the piston 23 downward relative to the cylinder body 21. At this time, the air in the second cavity is discharged through the third electromagnetic valve 34, and the increase in the first cavity further reduces the pressure inside the cylinder body 21, the pull pipe 22 and the suction cup 12, increasing the suction force of the suction cup 12; When there is air leakage in the suction cup 12, the air-leaking suction cup 12 does not adsorb the goods, and when the goods are lifted, it will not drive the piston 23 associated with the suction cup 12 to move in the cylinder body 21. At this time, the pressure sensor 36 on the cylinder body 21 detects abnormal pressure. After the remaining suction cups 12 adsorb the goods, the electromagnetic valve 14 above the connecting pipe 31 and the remaining electromagnetic valves 34 except the electromagnetic valve 34 on the side of the air-leaking suction cup 12 are controlled to close. The unclosed electromagnetic valve 34 connects the air pump 11 with the cylinder body 21 through another group of hoses 13 and the electromagnetic valve 14. At this time, the air pump 11 can separately extract the air in the cavity two in the cylinder body 21 above the air-leaking suction cup 12 through the hose 13, the electromagnetic valve 14 and the unclosed electromagnetic valve 34. Since the space acted on by the air pump 11 is reduced at this time, and the power of the air pump 11 remains unchanged, the pressure in the cavity two will be greatly reduced and be less than the pressure in the cavity one, causing the piston 23 to move downward relative to the cylinder body 21 under the action of the pressure difference, increasing the cavity one. And this cavity one is connected to the air path where the remaining non-air-leaking suction cups 12 are located. Therefore, the suction force of this group of remaining suction cups 12 can be increased to balance the suction force of the two groups of suction cups 12.

[0031] It should be emphasized that in the above process, all the cylinder bodies 21 are connected through the connecting pipe 31 and the electromagnetic valve 32. The increase in the cavity one of the cylinder body 21 connected to the air-leaking suction cup 12 can evenly distribute the increased suction force to the remaining suction cups 12 to ensure the uniformity of the suction force. If it is necessary to further improve the suction force balance effect, by controlling some of the electromagnetic valves 32 to close, the increased suction force can be distributed on the specified suction cup 12. For example, if the suction cup 12 at the very end leaks air, at this time, the electromagnetic valve 32 above the adjacent suction cup 12 is opened and the remaining electromagnetic valves 32 are closed. At this time, the cavity one of the cylinder body 21 above the air-leaking suction cup 12 is connected to the cavity one in the adjacent cylinder body 21 through the connecting pipe 31, the electromagnetic valve 32 and the electromagnetic valve 32. Through the above steps, the increased suction force can be completely distributed to the suction cup 12 adjacent to the air-leaking suction cup 12, thereby further improving the balance of the suction force received by the goods.

[0032] An iron ring 38 is fixed at the top of the cylinder body 21, and a magnet 39 adsorbed on the iron ring 38 is fixed at the top end of the pull pipe 22. When the piston 23 slides downward inside the cylinder body 21 by magnetic suction force, it will not drive the pull pipe 22 to move downward through friction. When the air pump 11 extracts the air in the space below the piston 23 inside the cylinder body 21, the descent of the pull pipe 22 causes the goods to squeeze the transmission assembly 27 to open the closing unit 26.

[0033] Refer to Figure 7, the air flow control mechanism 30 includes a diversion assembly 37. The diversion assembly 37 includes a one-way valve 371 fixedly installed on the upper seal 261. A diversion cover 372 is fixedly installed inside the connecting cylinder 271. A filter screen is provided between the connecting cylinder 271 and the diversion cover 372 to prevent impurities in the air from being sucked into the pull tube 22 and the cylinder body 21 when the suction cup 12 leaks air. A diversion shell 373 is fixedly installed inside the suction cup 12. When lowering the goods, the control solenoid valve II 32 is connected to communicate the cylinder body 21 with the outside, so that the outside air quickly enters the cavity I, the inside of the pull tube 22, and the inside of the suction cup 12 through the connecting tube I 31 and the control solenoid valve II 32. At this time, the suction cup 12 is separated from the adsorption of the goods, and the stretching elastic force of the return spring 24 drives the piston 23 to move upward and reset in the cylinder body 21, so that the air entering the cavity I flows downward through the pull tube 22 and the one-way valve 371. Then, the air is discharged through the suction cup 12 under the diversion of the diversion cover 372 and the diversion shell 373. The air flow thrust is used to assist the deformation recovery of the suction cup 12, eliminate the internal stress of the suction cup 12, extend the service life of the suction cup 12, and blow off the dust attached to the inner wall of the suction cup 12 to strengthen the sealing between the suction cup 12 and the goods when it is used again.

[0034] A pressing plate 29 is fixedly installed on the ejector rod 273. After the goods are lowered, the ejector rod 273 moves downward and resets relative to the connecting cylinder 271. At this time, it drives the pressing plate 29 to move downward to push and cover the diversion shell 373, so that the air flow can only be discharged through the gap between the diversion shell 373 and the suction cup 12, strengthening the air flow cleaning effect, and the downward movement of the pressing plate 29 to push the diversion shell 373 can further assist the deformation recovery of the suction cup 12 to eliminate stress; when the ejector rod 273 resets, it drives the upper seal 261 and the one-way valve 371 to deflect through the slider 274, so that the air flow flows downward in a beam through the one-way valve 371 and undergoes a position switch, further strengthening the air flow cleaning effect.

[0035] Through the connecting tube II 33 and the control solenoid valve III 34, the piston 23 can be controlled to move downward inside the cylinder body 21 when the palletizing device does not handle the goods, so as to drive the piston 23 to push the air flow by using the return spring 24 to realize the cleaning of the suction cup 12.

[0036] Working principle: Control the telescopic movement of the electric telescopic rod 45 to drive the connecting plate 44 to rise or fall, and then push or pull the installation box 42 through the push plate 43 to adjust the distance between the two installation boxes 42, so as to realize the adjustment of the distance between the two groups of suction cups 12, and enable the two groups of suction cups 12 to stably adsorb the goods according to the specifications of the goods; The robotic arm 10 drives the adjustment assembly 40, the suction compensation mechanism 20, and the suction cup 12 to move above the cargo and then descend. During the process when the suction cup 12 contacts and seals with the cargo and deforms, the bottom plate 28 and the ejector rod 273 are pushed upward by the cargo, and the upper seal 261 is deflected through the slider 274 and the chute, so that the air holes of the upper seal 261 and the lower seal 262 are aligned. The robotic arm 10 is activated to extract the air inside the suction cup 12 through the hose 13, the first solenoid valve 14, the cylinder body 21, the pull pipe 22, and the connecting cylinder 271, so that the suction cup 12 adsorbs to the cargo; The robotic arm 10 drives the adjustment assembly 40, the suction compensation mechanism 20, and the suction cup 12 to move upward. The suction cup 12 lifts the cargo by suction. During this process, the gravity of the cargo drives the suction cup 12, the connecting cylinder 271, and the pull pipe 22 to move downward relative to the cylinder body 21. When the pull pipe 22 moves downward, the piston 23 is pressed downward by the baffle 25, so that the cavity I in the cylinder body 21 increases, thereby further reducing the pressure inside the suction cup 12 and increasing the suction force between the suction cup 12 and the cargo. The greater the weight of the cargo, the greater the increased suction force of this part. By compensating the suction force of this part, the redundancy reserved for the suction force of the suction cup 12 can be reduced, saving energy and reducing the risk of dropping when handling goods of different weights at the same time; After the cargo is transported to the designated position, the cylinder body 21 is connected to the outside by controlling the second solenoid valve 32, so that the outside air quickly enters the cavity I, the inside of the pull pipe 22, and the inside of the suction cup 12 through the first connecting pipe 31 and the second solenoid valve 32. Then the second solenoid valve 32 is closed, and the suction cup 12 is separated from the adsorption of the cargo. The sealing unit 26 resumes to seal the pull pipe 22. The stretching elastic force of the return spring 24 drives the piston 23 to move upward and reset in the cylinder body 21, so that the air entering the cavity I flows downward through the pull pipe 22 and the check valve 371. Then the air is discharged through the suction cup 12 under the diversion of the diversion cover 372 and the diversion shell 373, using the air flow thrust to assist the deformation recovery of the suction cup 12 and blowing off the dust attached to the inner wall of the suction cup 12. The air pump 11 can directly extract the air in the cavity II through the hose 13, the first solenoid valve 14, the second connecting pipe 33, and the third solenoid valve 34, drive the piston 23 to move downward through negative pressure, and then clean the suction cup 12 through the above steps; When there is an air leak in the suction cup 12, the suction cup 12 with air leak does not adsorb the goods, and the goods being lifted will not drive the piston 23 associated with the suction cup 12 to move in the cylinder body 21. At this time, the pressure sensor 36 on the cylinder body 21 detects abnormal pressure. After the remaining suction cups 12 adsorb the goods, the solenoid valve 14 above the connecting pipe 31 and the remaining solenoid valves 34 except the solenoid valve 34 on the side of the suction cup 12 with air leak are controlled to close. The non-closed solenoid valve 34 connects the air pump 11 with the second cavity of the cylinder body 21 through another group of hoses 13 and the solenoid valve 14. At this time, the air pump 11 can separately extract the air in the second cavity of the cylinder body 21 above the suction cup 12 with air leak through the hose 13, the solenoid valve 14 and the non-closed solenoid valve 34. Since the space where the air pump 11 acts is reduced at this time, with the power of the air pump 11 remaining unchanged, the pressure in the second cavity will decrease significantly and be less than the pressure in the first cavity, causing the piston 23 to move downward relative to the cylinder body 21 under the action of the pressure difference, increasing the first cavity. And the first cavity is connected to the air path where the remaining non-air-leaking suction cups 12 are located through the connecting pipe 31 and the solenoid valve 32. Therefore, the suction force of the remaining suction cups 12 in this group can be increased to balance the suction force magnitudes of the two groups of suction cups 12.

[0037] As described above, it is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A goods stacking device for a fully automatic three-dimensional logistics warehouse, comprising a robotic arm (10), a suction cup (12) is arranged at the end of the robotic arm (10), an air pump (11) is fixedly installed on one side of the robotic arm (10), a hose (13) is arranged between the air pump (11) and the suction cup (12), and a first solenoid valve (14) is installed on the hose (13), characterized in that, It further includes: A suction compensation mechanism (20) and an air flow control mechanism (30). The suction compensation mechanism (20) includes a cylinder body (21). A pull tube (22) and a piston (23) are slidably connected inside the cylinder body (21). The pull tube (22) penetrates through the piston (23) and is slidably connected with the piston (23). A baffle (25) is fixed on the pull tube (22). A return spring (24) is arranged at the bottom of the piston (23). A closing unit (26) is arranged at the bottom end of the pull tube (22). A transmission assembly (27) is assembled between the closing unit (26) and the pull tube (22). Before the goods are adsorbed and lifted by the suction cup (12), by moving the piston (23) downward relative to the cylinder body (21), the air pressure inside the suction cup (12) is reduced. When the suction cup (12) does not adsorb the goods, the closing unit (26) closes the pull tube (22).

2. The goods stacking device for a fully automatic three-dimensional logistics warehouse according to claim 1, characterized in that, The transmission assembly (27) includes a connecting cylinder (271) fixed between the bottom end of the pull tube (22) and the suction cup (12). The closing unit (26) includes an upper seal (261) rotatably connected inside the connecting cylinder (271). A lower seal (262) is fixed on the inner wall of the connecting cylinder (271).

3. A goods stacking device for a fully automatic three-dimensional logistics warehouse according to claim 2, characterized in that, A fixed rod (272) is fixed inside the connecting cylinder (271). The bottom of the fixed rod (272) is elastically connected with a push rod (273). A slider (274) is arranged at the top end of the push rod (273).

4. A goods palletizing device for a fully automatic three-dimensional logistics warehouse according to claim 1, characterized in that, The air flow control mechanism (30) includes a first connecting pipe (31) fixed between the hose (13) and the cylinder body (21). A second connecting pipe (33) is fixed on one side of the cylinder body (21). The second connecting pipe (33) is connected to an air pump (11) through another group of hoses (13) and a first solenoid valve (14). A second solenoid valve (32) and a third solenoid valve (34) are respectively installed on the first connecting pipe (31) and the second connecting pipe (33). A sealing ring (35) is fixed at the bottom end of the cylinder body (21). A pressure sensor (36) is fixedly installed on one side of the cylinder body (21).

5. A goods palletizing device for a fully automatic three-dimensional logistics warehouse according to claim 2, characterized in that, The air flow control mechanism (30) includes a flow guiding assembly (37). The flow guiding assembly (37) includes a check valve (371) fixedly installed on the upper seal (261). A flow guiding cover (372) is fixed inside the connecting cylinder (271). A flow guiding shell (373) is fixed inside the suction cup (12).

6. A goods stacking device for a fully automatic three-dimensional logistics warehouse according to claim 1, characterized in that, An iron ring (38) is fixed at the top of the cylinder body (21). A magnet (39) adsorbed on the iron ring (38) is fixed at the top end of the pull tube (22).

7. A goods palletizing device for a fully automatic three-dimensional logistics warehouse according to claim 1, characterized in that, It further includes an adjusting assembly (40). The adjusting assembly (40) includes a housing (41) fixed at the driving end of the robotic arm (10). Two mounting boxes (42) for fixedly installing the cylinder body (21) are slidably connected inside the housing (41).

8. A goods palletizing device for a fully automatic three-dimensional logistics warehouse according to claim 6, characterized in that, A connecting plate (44) is slidably connected inside the housing (41), and an electric telescopic rod (45) with a telescopic end fixed to the connecting plate (44) is installed inside the housing (41). Push plates (43) are respectively hinged between the connecting plate (44) and the two mounting boxes (42).

9. A goods palletizing device for a fully automated logistics stereoscopic warehouse according to claim 3, characterized in that, A bottom plate (28) is fixedly connected to the bottom end of the ejector rod (273), and a pressing plate (29) is fixed to the ejector rod (273).

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