Sucker type object taking structure and refrigerator door production line

Abstract

The invention provides a suction cup type object taking structure and a refrigerator door production line, and belongs to the technical field of refrigerator production. The suction cup type object taking structure comprises an adsorption structure and a driving system, the adsorption structure comprises an adsorption frame and a plurality of adsorption units arranged on the adsorption frame, each adsorption unit comprises a linear driving device and a suction cup, the linear driving devices are fixed to the adsorption frame, and the suction cups are fixed to the output ends of the linear driving devices. And the driving system drives the adsorption structure to move in the X-axis direction, the Y-axis direction and the Z-axis direction. The structure can freely move according to different articles to be taken, different suction cups can be driven to suck the articles, the application range is wide, and stable suction of the different articles can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of refrigerator production, and in particular to a suction cup type object taking structure and a refrigerator door production line. Background Art

[0002] The precise positioning and gripping capabilities of a robotic arm are key technologies for improving production efficiency and product quality. This is especially true in the production of refrigerator door rail lines, where the robotic arm must adapt to the mixed production of multiple product models. This places higher demands on the flexibility and reliability of the suction cup positioning. Existing robotic arms with suction cups are mostly fixed or only adjustable within a small range. This can lead to interference between the suction cup and the product ribs during mixed production of different product models due to factors such as the spacing between the product's transverse ribs and differences in mold positioning. This necessitates frequent manual adjustments to accommodate different products, resulting in increased operation time and workload. Even with some products, due to significant structural differences, even small adjustments to the suction cup position cannot completely prevent interference between the suction cup and the product ribs. Contact between the suction cup and the ribs can easily lead to air leakage or deflection, resulting in unstable suction and a risk of the product falling during movement, resulting in damage or even scrapping.

[0003] Therefore, it is necessary to improve the existing manipulator with suction cup to overcome the defects of the prior art. Summary of the Invention

[0004] In order to overcome the problems existing in the related art, one of the purposes of the present invention is to provide a suction cup type picking structure, which can move freely according to the different items to be picked up, and can drive different suction cups to adsorb items. It has a wide range of applications and can achieve stable adsorption of different items.

[0005] A suction cup type object picking structure, comprising:

[0006] An adsorption structure, comprising an adsorption frame and a plurality of adsorption units disposed on the adsorption frame, each of the adsorption units comprising a linear drive device and a suction cup, the linear drive device being fixed to the adsorption frame, and the suction cup being fixed to an output end of the linear drive device;

[0007] A driving system drives the adsorption structure to move along the X-axis, Y-axis, and Z-axis directions.

[0008] During use, the picking structure can control the position of the suction cup by controlling the linear drive devices of different adsorption units through the control system. Different suction cups can be used to effectively avoid the ribs and raised parts on the surface of the refrigerator door, avoiding interference between the suction cup and these structures, thereby improving the stability of adsorption and reducing the risk of product falling.

[0009] This suction cup-type pickup mechanism can flexibly adjust the position and suction force of the suction cup based on the structure of the refrigerator door through a control system, making it suitable for a variety of refrigerator door structures and expanding the robot's applicability. Due to the more stable suction process, product damage caused by interference between the suction cup and the ribs is reduced, reducing product scrap rates and improving product quality.

[0010] In a preferred technical solution of the present invention, the driving system includes a frame, the top of which is fixedly connected to the output end of the first driving device;

[0011] The frame is provided with a first guide rail and a second driving device, wherein the length direction of the first guide rail is arranged along the length direction of the frame, the second driving device is fixed to the frame, a first mounting plate is provided on the first guide rail, and the second driving device drives the first mounting plate to move along the length direction of the frame;

[0012] A guide block is provided at the bottom of the first mounting plate, and a guide groove is provided on the guide block, and the length direction of the guide groove is arranged along the width direction of the frame; a third driving device is provided on the first mounting plate, and a second guide rail is provided on the adsorption frame, and the second guide rail is arranged in the guide groove, and the output end of the third driving device is fixedly connected to the adsorption frame; the second driving device drives the adsorption frame to move along the width direction of the frame.

[0013] In this embodiment, the first drive device drives the entire adsorption structure to move along the Z-axis direction to above the item to be picked up. The second drive device drives the first mounting plate to move along the X-axis direction to move the adsorption structure above the item to be picked up. The third drive device drives the bracket to move along the Y-axis direction to further adjust the position of the adsorption structure so that the suction cup is aligned with the adsorption point of the item to be picked up. The first drive device drives the adsorption structure to descend so that the suction cup gradually approaches the surface of the refrigerator door. Then the linear drive device drives the suction cup to descend so that the suction cup can adsorb the refrigerator door. After the adsorption is completed, the first drive device drives the adsorption structure to rise along the Z-axis direction to take out the refrigerator door.

[0014] In a preferred technical solution of the present invention, two second drive devices are provided on the frame, and the output end of each second drive device is fixedly connected to one of the first mounting plates, and each of the first mounting plates is provided with a third drive device, and the output end of each third drive device is fixedly connected to one of the adsorption racks.

[0015] In this embodiment, the two second drive devices each drive the two first mounting plates to move along the X-axis, moving the two suction structures above the two refrigerator doors. The two third drive devices each drive the two suction racks to move along the Y-axis, further adjusting the positions of the suction structures so that the suction cups align with the suction points of the items to be removed.

[0016] Different linear drive devices then drive different suction cups down to adsorb the refrigerator door. Two adsorption structures are set on the frame to adsorb items, which can expand the application range of the device.

[0017] In a preferred technical solution of the present invention, the driving system includes a three-axis manipulator, and a terminal end of the three-axis manipulator is fixedly connected to the adsorption frame.

[0018] In this embodiment, a three-axis manipulator is used as the drive system, with its terminals fixedly connected to the suction frame. The three-axis manipulator includes motion control in the X, Y, and Z axes, enabling precise movement of the suction frame in three dimensions. By precisely controlling the position of the suction cup, the three-axis manipulator can effectively avoid ribs and protrusions on the surface of the object, preventing interference between the suction cup and these structures. This improves suction stability and reduces the risk of the object falling.

[0019] In a preferred technical solution of the present invention, the adsorption units are arranged in M ​​rows and N columns on the adsorption rack, where M and N are both natural numbers greater than 1;

[0020] Along the X-axis direction, the distance between two adjacent adsorption units is 10cm-30cm;

[0021] Along the Y-axis direction, the distance between two adjacent adsorption units is 10 cm-40 cm.

[0022] In this embodiment, the matrix layout of suction units enables a more even distribution of suction cups, effectively avoiding ribs and raised areas on the object's surface, preventing interference between the suction cups and these structures. This improves suction stability and reduces the risk of dropped objects. The matrix layout of suction units allows for flexible adjustment of the position of suction cups based on the structure of the object, allowing for adaptability to a wide range of object shapes and sizes, broadening the robot's applicability.

[0023] In a preferred technical solution of the present invention, a pneumatic control system is further included, which is connected to the suction cup of the adsorption unit and is used to control the suction cup to generate suction force.

[0024] In this embodiment, a method for controlling suction cup adhesion is provided. The pneumatic control system includes an air pump, a solenoid valve, an air pipe, and a pressure sensor, which are used to control the suction force generated by the suction cup. The air pump provides negative pressure, which communicates with the suction cup through the air pipe to generate suction. The solenoid valve controls the air flow, enabling the suction cup to engage and release. The air pipe connects the air pump and the suction cup, transmitting negative pressure. A pressure sensor, installed in the air pipe, monitors the suction cup's adhesion in real time to ensure the stability of the adhesion process.

[0025] This embodiment, through the precise control of the matrix-type adsorption units and the pneumatic control system, can accurately and flexibly control the descent of the suction cup to effectively avoid the ribs and protrusions on the surface of the object, avoid interference between the suction cup and these structures, thereby improving the stability of adsorption and reducing the risk of objects falling.

[0026] In a preferred technical solution of the present invention, a vacuum generating device is provided on the suction cup, and the vacuum generating device is used to generate negative pressure at the suction cup.

[0027] Specifically, each suction cup in this embodiment is equipped with a vacuum generator to generate negative pressure at the suction cup. The vacuum generator uses a micro vacuum pump installed at the air inlet of each suction cup, and its working state is controlled by a solenoid valve to achieve suction and release of the suction cup.

[0028] In a preferred technical solution of the present invention, a controller is also included;

[0029] An image acquisition device is provided on the adsorption frame, and the image acquisition device is electrically connected to the controller.

[0030] In one embodiment, an image acquisition device captures the structural shape of the object to be adsorbed. Based on the data captured by the image acquisition device, a controller controls the operation of adsorption units at different locations. Specifically, different linear drive devices are controlled to drive different suction cups to achieve adsorption of the object.

[0031] A second object of the present invention is to provide a refrigerator door production line, comprising a conveyor line and the suction cup type picking structure as described above, wherein the suction cup type picking structure is arranged on one side of the conveyor line.

[0032] In a preferred technical solution of the present invention, an RFID reader is provided on one side of the conveyor line, and the RFID reader is used to read the RFID tag on the refrigerator door;

[0033] Along the conveying direction of the conveying line, the RFID reader is arranged upstream of the suction cup type picking structure of the production line.

[0034] In this embodiment, after the refrigerator door is formed in the mold, it is transported to the location of the RFID reader through a conveyor line.

[0035] The RFID reader reads the RFID tag on the refrigerator door, obtains the door's model and structural information, and transmits this information to the control system. Based on the information in the RFID tag, the control system automatically adjusts the suction cups in the different positions of the suction unit to avoid ribs and protrusions. By automatically reading the door's model and structural information, the system automatically adjusts the suction unit's operating state, achieving a high degree of automation, reducing manual intervention, and further improving production efficiency and product quality.

[0036] The beneficial effects of the present invention are:

[0037] The present invention provides a suction cup-type object-removing structure, comprising a suction structure and a drive system. The suction structure comprises a suction frame and multiple suction units mounted on the frame. Each suction unit comprises a linear drive device and a suction cup. The linear drive device is fixed to the frame, and the suction cup is fixed to the output end of the linear drive device. The drive system drives the suction structure to move along the X, Y, and Z axes. During use, the suction structure is driven by the drive system to move above the object to be sucked. The linear drive devices of each suction unit are then automatically adjusted according to the structural shape of the object to be sucked, so that the linear drive devices drive the suction cups downward. The suction cups contact the surface of the refrigerator door and begin to suck the object to be sucked. After suction is completed, the drive system drives the suction structure to move and place the object at the target location. The suction structure can flexibly adjust the operation of the linear drive devices at different locations through a control system according to the structural shape of the object, allowing the suction cups to avoid ribs and protrusions on the object to be sucked, preventing interference between the suction cups and these structures, thereby improving suction stability and reducing the risk of product dropping. This structure is suitable for the adsorption of objects of various structures, broadening the scope of application, which helps to reduce the construction cost of the equipment and thus reduce production costs.

[0038] The present application also provides a refrigerator door production line including the above-mentioned suction cup type picking structure, which can stably pick up different refrigerator doors and reduce the damage to the refrigerator doors caused by falling during the picking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a three-dimensional diagram of a suction cup-type object-picking structure provided in an embodiment of the present invention;

[0040] Figure 2 yes Figure 1 A partial enlarged view of point A in the middle;

[0041] Figure 3 This is a front view of a suction cup-type object-picking structure provided in an embodiment of the present invention;

[0042] Figure 4 is a side view of a suction cup-type object-picking structure provided in an embodiment of the present invention;

[0043] Figure 5 It is a top view of a suction cup-type object-picking structure provided in an embodiment of the present invention.

[0044] Reference numerals:

[0045] 1. Adsorption structure; 11. Adsorption rack; 111. Second guide rail; 12. Adsorption unit; 121. Linear drive device; 122. Suction cup; 2. Drive system; 21. Frame; 211. First guide rail; 22. Second drive device; 23. First mounting plate; 24. Third drive device; 25. Guide block; DETAILED DESCRIPTION

[0046] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to make the present invention more thorough and complete and to fully convey the scope of the present invention to those skilled in the art.

[0047] The precise positioning and gripping capabilities of a robotic arm are key technologies for improving production efficiency and product quality. This is especially true in the production of refrigerator door rail lines, where the robotic arm must adapt to the mixed production of multiple product models. This places higher demands on the flexibility and reliability of the suction cup positioning. Existing robotic arms with suction cups are mostly fixed or only adjustable within a small range. This can lead to interference between the suction cup and the product ribs during mixed production of different product models due to factors such as the spacing between the product's transverse ribs and differences in mold positioning. This necessitates frequent manual adjustments to accommodate different products, resulting in increased operation time and workload. Even with some products, due to significant structural differences, even small adjustments to the suction cup position cannot completely prevent interference between the suction cup and the product ribs. Contact between the suction cup and the ribs can easily lead to air leakage or deflection, resulting in unstable suction and a risk of the product falling during movement, resulting in damage or even scrapping.

[0048] Based on this, the present application provides a suction cup type object picking structure.

[0049] Example 1

[0050] like Figure 1-Figure 5 As shown, this embodiment provides a suction cup 122 type object picking structure, including:

[0051] The adsorption structure 1 includes an adsorption frame 11 and multiple adsorption units 12 mounted on the adsorption frame 11. Each adsorption unit 12 includes a linear drive 121 and a suction cup 122. The linear drive 121 is fixed to the adsorption frame 11, and the suction cup 122 is fixed to the output end of the linear drive 121. The linear drive 121 uses an electric linear slide with a stroke of 150 mm, which can accurately control the extension and retraction position of the suction cup 122. Alternatively, the linear drive 121 can be implemented using a push rod motor.

[0052] The driving system 2 drives the adsorption structure 1 to move along the X-axis, Y-axis, and Z-axis directions.

[0053] Specifically, the adsorption units 12 are arranged on the adsorption rack 11 in M ​​rows and N columns, where M and N are both natural numbers greater than 1;

[0054] Along the X-axis direction, the distance between two adjacent adsorption units 12 is 10 cm-30 cm; for example, it is set to 20 cm.

[0055] Along the Y-axis direction, the distance between two adjacent adsorption units 12 is 10 cm-40 cm; for example, it is set to 30 cm.

[0056] The suction cup 122 of the present application is made of a highly elastic rubber material with a diameter of 80 mm, which is suitable for adsorption on the surface of the refrigerator door.

[0057] In this embodiment, the matrix layout of suction units 12 allows for a more even distribution of suction cups 122, effectively avoiding ribs and raised areas on the surface of an object, preventing interference between suction cups 122 and these structures. This improves suction stability and reduces the risk of objects falling. The matrix layout of suction units 12 facilitates flexible adjustment of the position of suction cups 122 based on the structure of the object, allowing for flexible adjustment of the control system to accommodate objects of various shapes and sizes, thus expanding the manipulator's applicability.

[0058] During use, the picking structure can control the linear drive device 121 of different adsorption units 12 through the control system to control the position of the suction cup 122. Different suction cups 122 can be used to effectively avoid the ribs and raised parts on the surface of the refrigerator door, avoiding interference between the suction cup 122 and these structures, thereby improving the stability of adsorption and reducing the risk of product falling.

[0059] The suction disc 122 type object structure can be flexibly adjusted in position and suction force of the suction disc 122 through a control system according to different structures of refrigerator doors, is suitable for refrigerator doors of various structures, and enhances the application range of the mechanical hand. Since the suction process is more stable, product damage caused by interference between the suction disc 122 and the rib is reduced, the product scrap rate is reduced, and the product qualified rate is improved.

[0060] Embodiment 2

[0061] This embodiment is improved on the basis of embodiment 1.

[0062] As Figure 1-Figure 5 shown, in this embodiment, the driving system 2 includes a rack 21, the top of the rack 21 is fixedly connected with the output end of the first driving device;

[0063] The rack 21 is provided with a first guide rail 211 and a second driving device 22, the length direction of the first guide rail 211 is arranged along the length direction of the rack 21, the second driving device 22 is fixed on the rack 21, the first guide rail 211 is provided with a first mounting plate 23, and the second driving device 22 drives the first mounting plate 23 to move along the length direction of the rack 21;

[0064] The bottom of the first mounting plate 23 is provided with a guide block 25, the guide block 25 is provided with a guide groove, the length direction of the guide groove is arranged along the width direction of the rack 21; The first mounting plate 23 is provided with a third driving device 24, the suction frame 11 is provided with a second guide rail 111, the second guide rail 111 is arranged in the guide groove, and the output end of the third driving device 24 is fixedly connected with the suction frame 11; The second driving device 22 drives the suction frame 11 to move along the width direction of the rack 21.

[0065] In this embodiment, the rack 21 is made of high-strength aluminum alloy material, the size is 200mmx600mmx400mm, and is used for supporting the whole driving system 2. The first driving device adopts a pneumatic cylinder, the output end of which is fixedly connected with the top of the rack 21 through a shaft coupling, and is used for driving the whole suction structure 1 to move up and down along the Z axis direction. The device also includes a controller, the controller uses PLC as the core control unit, and realizes accurate control of the suction structure 1 and the driving system 2 through sensor feedback signals.

[0066] In this embodiment, the first drive device drives the entire adsorption structure 1 to move along the Z-axis direction to above the item to be picked up. The second drive device 22 drives the first mounting plate 23 to move along the X-axis direction, moving the adsorption structure 1 above the item to be picked up. The third drive device 24 drives the bracket to move along the Y-axis direction, and further adjusts the position of the adsorption structure 1 so that the suction cup 122 is aligned with the adsorption point of the item to be picked up. The first drive device drives the adsorption structure 1 to descend, so that the suction cup 122 gradually approaches the surface of the refrigerator door. Then the linear drive device 121 drives the suction cup 122 to descend, so that the suction cup 122 can adsorb the refrigerator door. After the adsorption is completed, the first drive device drives the adsorption structure 1 to rise along the Z-axis direction to take out the refrigerator door.

[0067] Example 3

[0068] This embodiment is improved on the basis of embodiment 2.

[0069] like Figure 1-Figure 5 As shown, in this embodiment, two second drive devices 22 are provided on the frame 21, and the output end of each second drive device 22 is fixedly connected to one of the first mounting plates 23, and each of the first mounting plates 23 is provided with a third drive device 24, and the output end of each third drive device 24 is fixedly connected to one of the adsorption frames 11.

[0070] In this embodiment, the two second drive devices 22 each drive the two first mounting plates 23 to move along the X-axis, moving the two suction structures 1 above the two refrigerator doors. The two third drive devices 24 each drive the two suction racks 11 to move along the Y-axis, further adjusting the position of the suction structure 1 so that the suction cups 122 align with the suction points of the items to be removed.

[0071] Then different linear drive devices 121 drive different suction cups 122 to descend for adsorbing the refrigerator door. Two adsorption structures 1 are provided on the frame 21 for adsorbing articles, which can improve the application range of the device.

[0072] Example 4

[0073] This embodiment is improved on the basis of embodiment 1.

[0074] like Figure 1-Figure 5 As shown, in this embodiment, the driving system 2 includes a three-axis manipulator, and a terminal end of the three-axis manipulator is fixedly connected to the adsorption frame 11.

[0075] In this embodiment, a three-axis robot is used as the driving system 2, and the terminal thereof is fixedly connected with the adsorption frame 11. The three-axis robot includes movement control in three directions of X-axis, Y-axis and Z-axis, and can realize accurate movement of the adsorption frame 11 in three-dimensional space. The position of the suction cup 122 is accurately controlled through the three-axis robot, so as to effectively avoid the ribs and protruding parts on the surface of the article, and avoid interference between the suction cup 122 and these structures, thereby improving the stability of adsorption and reducing the risk of article falling.

[0076] Embodiment 5

[0077] This embodiment is improved on the basis of embodiment 1.

[0078] As shown in Figure 1-Figure 5 In this embodiment, a pneumatic control system is further included, which is in communication with the suction cup 122 of the adsorption unit 12 and is used for controlling the suction cup 122 to generate suction force.

[0079] In this embodiment, a suction control mode of the suction cup 122 is provided. The pneumatic control system includes a gas pump, a solenoid valve, a gas pipe and a pressure sensor, which are used for controlling the suction cup 122 to generate suction force. The gas pump provides negative pressure and is in communication with the suction cup 122 through the gas pipe to generate suction force. The solenoid valve is used for controlling the on-off of the gas circuit to realize adsorption and release of the suction cup 122. The gas pipe is used for connecting the gas pump and the suction cup 122 to transmit negative pressure. The pressure sensor is installed in the gas pipe to monitor the adsorption force of the suction cup 122 in real time, so as to ensure the stability of the adsorption process.

[0080] In this embodiment, through accurate control of the matrix layout adsorption unit 12 and the pneumatic control system, the descent of the suction cup 122 can be accurately and flexibly controlled, so as to effectively avoid the ribs and protruding parts on the surface of the article, and avoid interference between the suction cup 122 and these structures, thereby improving the stability of adsorption and reducing the risk of article falling.

[0081] Embodiment 6

[0082] This embodiment is improved on the basis of embodiment 1.

[0083] As shown in Figure 1-Figure 5 In this embodiment, a vacuum generating device is arranged on the suction cup 122, and the vacuum generating device is used for generating negative pressure at the suction cup 122.

[0084] Specifically, the vacuum generating device is arranged on each suction cup 122 of this embodiment, and is used for generating negative pressure at the suction cup 122. The vacuum generating device adopts a micro vacuum pump, which is installed at the air inlet of each suction cup 122 and is controlled by a solenoid valve to realize adsorption and release of the suction cup 122.

[0085] In this embodiment, a controller is further included.

[0086] An image acquisition device is provided on the adsorption frame 11 , and the image acquisition device is electrically connected to the controller.

[0087] In one embodiment, an image acquisition device captures the structural shape of the object to be adsorbed. Based on the data captured by the image acquisition device, the controller controls the operation of the adsorption units 12 at different locations. Specifically, the controller controls the linear drive devices 121 of different adsorption units 12 to drive the movement of different suction cups 122, thereby achieving adsorption of the object to be adsorbed.

[0088] Example 7

[0089] like Figure 1-Figure 5 As shown, this embodiment provides a method for using the suction cup 122 type object picking structure. The method is as follows:

[0090] The operator inputs the structural parameters of the object to be picked up, including information such as the position of the ribs and the raised parts, through the touch screen on the controller of the picking structure.

[0091] The control system then automatically adjusts the movement of the suction cups 122 in the adsorption units 12 at different positions according to the input parameters, so that the different suction cups 122 can avoid the ribs and protrusions when adsorbing.

[0092] During suction, the three-axis manipulator drives the suction frame 11 to rise along the Z axis to above the object to be picked up. The three-axis manipulator drives the suction frame 11 to move along the X and Y axes, moving the suction frame 11 above the object to be picked up. The three-axis manipulator drives the suction frame 11 to descend along the Z axis, bringing the entire suction structure 1 close to the object. The linear drive device 121 then drives the suction cup 122 to contact the surface of the object and initiate suction.

[0093] After the adsorption is completed, the three-axis manipulator drives the adsorption rack 11 to rise along the Z-axis direction to take the object out from its original position.

[0094] The three-axis manipulator drives the adsorption rack 11 to move along the X-axis and Y-axis directions to place the object at the target position.

[0095] The three-axis manipulator drives the adsorption rack 11 to descend along the Z-axis direction to place the object at the target position.

[0096] After the object-taking operation is completed, the adsorption rack 11 returns to its initial position and prepares for the next operation.

[0097] Example 8

[0098] like Figure 1-Figure 5 As shown, this embodiment provides a refrigerator door production line, including a conveyor line and the suction cup 122 type picking structure as described above, and the suction cup 122 type picking structure is arranged on one side of the conveyor line.

[0099] In this embodiment, an RFID reader is provided on one side of the conveyor line, and the RFID reader is used to read the RFID tag on the refrigerator door;

[0100] Along the conveying direction of the conveyor line, the RFID reader / writer is positioned upstream of the suction cup 122-type pickup mechanism of the production line. Specifically, the RFID reader / writer is used to read the RFID tags on the refrigerator doors to obtain the door model and structural information. The RFID tags, affixed to each refrigerator door, contain information such as the door model, size, and rib location.

[0101] In this embodiment, after the refrigerator door is formed in the mold, it is transported to the location of the RFID reader through a conveyor line.

[0102] The RFID reader reads the RFID tag on the refrigerator door, obtains the door's model and structural information, and transmits this information to the control system. Based on the information in the RFID tag, the control system automatically adjusts the position of the suction cups 122 in the suction unit 12, ensuring they avoid ribs and protrusions. By automatically reading the door's model and structural information through the RFID reader, the system automatically adjusts the operating state of the suction unit 12, achieving a high degree of automation, reducing manual intervention, and further improving production efficiency and product quality.

[0103] Through the precise control of the matrix-arranged adsorption unit 12 and the drive system 2, this production line can enable the suction cup 122 to effectively avoid the ribs and raised parts on the surface of the refrigerator door during adsorption, avoiding interference between the suction cup 122 and these structures, thereby improving the stability of adsorption and reducing the risk of the refrigerator door falling.

[0104] The foregoing is considered as illustrative only of the principles of the application. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the application to the exact construction and practice described. Accordingly, all such variations are intended to be included within the scope of the present application as defined in the following claims, along with full equivalents thereof. Unless otherwise indicated, the relative arrangement of components and steps in the embodiments set forth in the following examples are not limiting of the scope of the present application. Also, it is to be understood that the various parts shown in the figures are not necessarily drawn to scale. Techniques, methods, and apparatus known to those of ordinary skill in the art can not be discussed in detail, but are intended to be understood as a part of the technology of the present application when reading the description below. In all examples shown and discussed herein, any specific values should be interpreted as merely illustrative of the examples and not as a limitation thereon. Thus, other examples of the exemplary embodiments can have different values. It is noted that like numbers and letters on the figures identify like parts throughout the several views, and thus, once an item is defined in one figure, it is not necessary to discuss it further in connection with other figures where it is not referenced. In the description of the present application, it is to be understood that the specific structural and functional details disclosed herein are representative and do not limit the scope of the application, which is limited only by the claims. In this description, reference is made to methods and devices which are readily adaptable for use in connection with the application, and which are described in terms of their capability to accomplish the tasks identified. It will be apparent to those skilled in the art that substantial equivalents of the structures and methods described herein can be utilized without departing from the spirit and scope of the present application. Thus, it is intended that the present application cover all such modifications and variations of this application. It is intended that changes be made in the details and the like be within the scope of the application, with the scope of the application to be interpreted in accordance with the following claims.

[0105] Spatially relative terms, such as "beneath", "below", "lower", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if a device shown in the figures is inverted, elements described as "below" or "beneath" other elements or features would then be oriented "above" and "over" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. It is to be understood that the use of spatially relative terms does not indicate a fixed position in time and / or space.

[0106] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this application. The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can be subject to various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A suction cup type picking structure, characterized in that: include: An adsorption structure, comprising an adsorption frame and a plurality of adsorption units disposed on the adsorption frame, each of the adsorption units comprising a linear drive device and a suction cup, the linear drive device being fixed to the adsorption frame, and the suction cup being fixed to an output end of the linear drive device; A driving system drives the adsorption structure to move along the X-axis, Y-axis, and Z-axis directions.

2. The suction cup type object picking structure according to claim 1, characterized in that: The driving system includes a frame, the top of which is fixedly connected to the output end of the first driving device; The frame is provided with a first guide rail and a second driving device, wherein the length direction of the first guide rail is arranged along the length direction of the frame, the second driving device is fixed to the frame, a first mounting plate is provided on the first guide rail, and the second driving device drives the first mounting plate to move along the length direction of the frame; A guide block is provided at the bottom of the first mounting plate, and a guide groove is provided on the guide block, and the length direction of the guide groove is arranged along the width direction of the frame; a third driving device is provided on the first mounting plate, and a second guide rail is provided on the adsorption frame, and the second guide rail is arranged in the guide groove, and the output end of the third driving device is fixedly connected to the adsorption frame; the second driving device drives the adsorption frame to move along the width direction of the frame.

3. The suction cup type object picking structure according to claim 2, characterized in that: Two second drive devices are provided on the frame, and the output end of each second drive device is fixedly connected to one of the first mounting plates. Each of the first mounting plates is provided with a third drive device, and the output end of each third drive device is fixedly connected to one of the adsorption racks.

4. The suction cup type object picking structure according to claim 1, characterized in that: The driving system includes a three-axis manipulator, and a terminal end of the three-axis manipulator is fixedly connected to the adsorption frame.

5. The suction cup type object picking structure according to any one of claims 1 to 4, characterized in that: The adsorption units are arranged on the adsorption rack in M ​​rows and N columns, where M and N are both natural numbers greater than 1; Along the X-axis direction, the distance between two adjacent adsorption units is 10cm-30cm; Along the Y-axis direction, the distance between two adjacent adsorption units is 10 cm-40 cm.

6. The suction cup type object picking structure according to any one of claims 1 to 4, characterized in that: It also includes a pneumatic control system, which is connected to the suction cup of the adsorption unit and is used to control the suction cup to generate suction force.

7. The suction cup type object picking structure according to any one of claims 1 to 4, characterized in that: The suction cup is provided with a vacuum generating device, and the vacuum generating device is used to generate negative pressure at the suction cup.

8. The suction cup type object picking structure according to claim 7, characterized in that: Also includes a controller; An image acquisition device is provided on the adsorption frame, and the image acquisition device is electrically connected to the controller.

9. A refrigerator door production line, characterized by: It comprises a conveying line and a suction cup type picking structure as described in any one of claims 1 to 8, wherein the suction cup type picking structure is arranged on one side of the conveying line.

10. The refrigerator door production line according to claim 9, characterized in that: An RFID reader is provided on one side of the conveyor line, and the RFID reader is used to read the RFID tag on the refrigerator door; Along the conveying direction of the conveying line, the RFID reader is arranged upstream of the suction cup type picking structure of the production line.

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