Bag material composite chuck

Abstract

The present application belongs to the technical field of bag material loading, and particularly relates to a composite suction cup for bag material. The composite suction cup for bag material comprises a fixing frame, a suction mechanism and a suction cup mechanism fixed on the fixing frame. The suction cup mechanism comprises a suction cup body, and the suction cup body is provided with the suction mechanism. The suction mechanism comprises a suction pipeline, and the suction end of the suction pipeline is communicated with the air passage total port of the top wall of the suction cup body. Compared with the prior art, the present application has the technical effect that the air branch is provided, so that the air can be extracted outward even if the material is attached to the inner wall of the top plate of the suction cup, the air pressure of the suction cavity is lower, and the fixation between the suction cup and the material is more firm.

Description

Technical Field

[0001] This invention belongs to the field of bagged material loading technology, specifically relating to a composite suction cup for bagged materials. Background Technology

[0002] In the existing technology, there are already loading robots that use the suction cups of a robotic arm to fix bagged materials (hereinafter referred to as materials) and then transfer them to a vehicle. For example, patent document CN 212150765 U is relatively convenient.

[0003] Technical issue: The suction cup is sometimes not securely fixed to the material, causing it to fail to pick up or fall off midway. Summary of the Invention

[0004] The technical problem to be solved by this invention is: how to design a composite suction cup for bagged materials that provides a more secure fixation between the suction cup and the material.

[0005] The specific technical solution of the present invention is as follows:

[0006] A composite suction cup for bagged materials includes a fixed frame, on which a suction mechanism and a suction cup mechanism are fixed. The suction cup mechanism includes a suction cup body, on which a suction mechanism is provided. The suction mechanism includes a suction pipe, the suction end of which is connected to a main vent on the top wall of the suction cup body. A top vent groove is provided on the inner surface of the top wall of the suction cup body, and multiple vertically arranged side vent grooves are provided on the inner surface of the side walls of the suction cup body. The top vent groove includes multiple intersecting top horizontal grooves and top vertical grooves. The side vent grooves are connected to the main vent through the top vent groove.

[0007] The bottom of the suction cup body is the suction cup lip, which is made of elastic material.

[0008] The bottom of the suction cup lip is a rubber lip, and the cross-section of the rubber lip is "S" shaped, which includes a V-shaped area, a constricted area and a flared area from top to bottom.

[0009] The inhalation mechanism is symmetrically equipped with movable protective gear on its sides.

[0010] The movable protective gear moves by swinging, specifically as follows: The movable protective gear includes wing plates, which are fixed on a rotating shaft. The rotating shaft is rotatably connected to a fixed frame, which is connected to a drive power mechanism. The drive power mechanism is a swing cylinder, with the cylinder body hinged to the fixed frame and the piston end of the swing cylinder hinged to one end of a swing rod. The other end of the swing rod is fixed to the rotating shaft. The wing plates are provided with a matrix of wing plate holes.

[0011] A spring damping mechanism is provided between the fixed frame and the air intake mechanism. The fixed frame fixes the cylinder body of the upper and lower locking cylinders, and the piston of the locking cylinder fixes the locking block.

[0012] The suction mechanism is equipped with a cone block, and the locking block is cup-shaped, with the outer surface shape of the locking block matching the inner surface shape of the locking block;

[0013] The spring damping mechanism includes a positioning column, the upper end of which is fixed to a fixed frame. The top of the air intake mechanism is a damping plate. The positioning column passes through the through hole of the damping plate. A compression spring is provided between the damping plate and the fixed frame. The compression spring is sleeved on the outside of the positioning column. A plug is fixed at the lower end of the positioning column. The plug is located below the damping plate.

[0014] The suction cup body is a "layered" type, consisting of multiple plates fixed together by through screws from top to bottom: a top plate of a suction cup body, multiple middle plates of suction cup bodies, and a bottom plate of a suction cup body. The space between two adjacent plates is filled with sealant.

[0015] When the suction cup lip is made of sponge, a sponge mounting groove is provided on the lower surface of the suction cup body base plate, and the upper part of the sponge is located in the sponge mounting groove; when the suction cup lip is made of rubber, an inner flange is fixed on the lower inner wall of the suction cup body base plate, and the inner flange becomes the second constriction area.

[0016] Compared with the prior art, the technical advantages of the present invention are that the present invention has an air branch, which can draw air out even if the material is stuck to the inner wall of the suction cup top plate, the air pressure in the suction chamber is lower, and the fixation between the suction cup and the material is more secure. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the invention from the left-hand perspective.

[0018] Figure 2 This is a three-dimensional schematic diagram of the invention from the right-side perspective.

[0019] Figure 3 This is a front view schematic diagram of the present invention.

[0020] Figure 4 This is a front view schematic diagram of the side protection mechanism.

[0021] Figure 5 This is a three-dimensional schematic diagram of the side protection mechanism.

[0022] Figure 6 This is a schematic diagram of the suction cup lip from the left side.

[0023] Figure 7 This is a schematic diagram from the right side view of the suction cup lip.

[0024] Figure 8 This is a three-dimensional schematic diagram of the invention from a lower perspective.

[0025] Figure 9 This is a schematic diagram of the suction cup lip in its open state.

[0026] Figure 10 This is a schematic diagram of a sponge.

[0027] Figure 11 This is a schematic diagram of a sponge cut open.

[0028] The labels are summarized as follows:

[0029] 100 is the fixed frame; 200 is the suction mechanism; 210 is the suction pipe; 211 is the suction end; 300 is the suction cup mechanism; 303 is the shock absorber; 310 is the suction cup body; 301 is the main air vent; 304 is the cone block; 320 is the suction cup lip; 321 is the rubber lip; 322 is the sponge; 325 is the flared mouth area; 326 is the constricted mouth area; 327 is the V-shaped area; 330 is the top air vent; 331 is the top horizontal vent; 332 is the top vertical vent; 340 is the side air vent. 51 is the top plate of the suction cup body; 352 is the middle plate of the suction cup body; 353 is the bottom plate of the suction cup body; 354 ​​is the inner flange; 356 is the sponge mounting groove; 400 is the movable protective gear; 410 is the wing plate; 411 is the wing plate hole; 420 is the rotating shaft; 430 is the swing rod; 440 is the swing cylinder; 441 is the piston end; 500 is the locking cylinder; 501 is the piston part; 502 is the locking block; 510 is the spring damping mechanism; 511 is the plug; 512 is the compression spring; 514 is the positioning post. Detailed Implementation

[0030] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 1-3 A composite suction cup for bagged materials includes a fixing frame 100, which has two functions: one is to support the suction cup mechanism 300, and the other is to connect with the robot's manipulator.

[0032] The suction mechanism 200 and the suction cup mechanism 300 are fixed on the fixed frame 100.

[0033] The suction cup mechanism 300 includes a suction cup body 310.

[0034] The suction cup body 310 is equipped with a suction mechanism 200.

[0035] like Figure 1-3 , Figure 8 The suction mechanism 200 includes a suction pipe 210. The suction end 211 of the suction pipe 210 is connected to the main air vent 301 on the top wall of the suction cup body 310. The inner surface of the top wall of the suction cup body 310 is provided with a top air vent 330. The inner surface of the side wall of the suction cup body 310 is provided with a plurality of vertically arranged side air vents 340. The top air vent 330 includes a plurality of intersecting top horizontal grooves 331 and top vertical grooves 332. The side air vents 340 are connected to the main air vent 301 through the top air vent 330.

[0036] The bottom of the suction cup body 310 is a suction cup lip 320, which is made of an elastic material such as rubber or sponge. Its main function is to ensure a seal even when the surfaces of the materials being adsorbed are not on the same plane, thanks to the contraction of the suction cup lip 320.

[0037] like Figure 10-11 The bottom of the suction cup lip 320 is a sponge 322, which is suitable for bags with relatively smooth surfaces (such as compound fertilizer bags). When a vacuum is generated in the suction cup cavity, the sponge deforms, which can create a negative pressure environment for the bag and the cavity, thereby sucking the bag up.

[0038] like Figure 6-9 The bottom of the suction cup lip 320 is a rubber lip 321. The cross-section of the rubber lip 321 is "S" shaped, and it includes a V-shaped area 327, a constriction area 326 and a flared area 325 from top to bottom.

[0039] In practical use, the surfaces of bags used for compound fertilizers and other products may not be smooth. Furthermore, chemical raw materials such as compound fertilizers and urea tend to clump together over time, resulting in uneven and non-deformable bag surfaces. This can prevent the sponge suction cup from adhering. In such cases, a rubber lip 321 can be used. Even if the bag surface is uneven and not easily deformable, the flared opening area 325 can adapt to the uneven shape and adhere to the bag surface. The drawstring area 326 forms an adsorption seal, and the V-shaped area 327 is a vertical expansion and contraction zone, thus completing the adsorption process.

[0040] The suction cup mechanism usually works in conjunction with the robotic arm. The suction cup mechanism is responsible for fixing the material, while the robotic arm is responsible for moving it. However, the trajectory of the material movement is often curved (such as an arc). During the movement, horizontal inertia (force) is generated, which causes the material to tend to detach from the suction cup mechanism. If the material moves too fast, it will cause the material to detach from the suction cup mechanism, resulting in suction failure.

[0041] Therefore, the following improvements have been made:

[0042] like Figure 1-5 The inhalation mechanism 200 is symmetrically provided with movable protective gear 400 on its side, which can resist the aforementioned inertia (force).

[0043] like Figure 1-5 The movable protective gear 400 moves in a swinging manner. Specifically, the movable protective gear 400 includes a wing plate 410, which is fixed on a rotating shaft 420. The rotating shaft 420 is rotatably connected to a fixed frame 100, which is connected to a drive power mechanism.

[0044] like Figure 1-5The driving power mechanism is a swing cylinder 440. The cylinder body end of the swing cylinder 440 is hinged to the fixed frame 100, and the piston end 441 of the swing cylinder 440 is hinged to one end of the swing rod 430. The other end of the swing rod 430 is fixed to the rotating shaft 420.

[0045] The wingplate 410 is provided with a matrix of wingplate holes 411. The function of the wingplate holes is to reduce weight and wind resistance.

[0046] In the prior art, if there is no shock-absorbing mechanism between the "fixed frame 100 and the suction mechanism 200", it is not conducive to the initial stage of adsorption, but it helps with the stability of movement (together with the robotic arm); if there is a shock-absorbing mechanism between the "fixed frame 100 and the suction mechanism 200", it helps with the initial stage of adsorption, but it is not conducive to the stability of movement (together with the robotic arm). The two cannot be achieved simultaneously.

[0047] Therefore, the following improvements have been made:

[0048] like Figure 3 A spring damping mechanism 510 is provided between the fixed frame 100 and the suction mechanism 200. The fixed frame 100 fixes the cylinder body of the upper and lower locking cylinder 500, and the piston part 501 of the locking cylinder 500 fixes the locking block 502.

[0049] like Figure 3 To facilitate alignment, the suction mechanism 200 is provided with a cone block 304, and the locking block 502 is bowl-shaped, with the outer surface shape of the locking block 502 matching the inner surface shape of the locking block 502.

[0050] like Figure 3 The spring damping mechanism 510 includes a positioning post 514, the upper end of which is fixed to the fixing frame 100. The top of the air intake mechanism 200 is a damping plate 303. The positioning post 514 passes through the through hole of the damping plate 303. The lower end of the positioning post 514 is fixed with a plug 511. A compression spring 512 is provided between the damping plate 303 and the fixing frame 100. The compression spring 512 is sleeved on the outside of the positioning post 514. The plug 511 is located below the damping plate 303.

[0051] In existing technologies, the depth of the suction cup cavity and the effective area of ​​the suction cup determine the suction force; the deeper and larger the area, the greater the suction force. Traditional suction cups allow for selection of the effective area, such as a length of 400mm and a width of 200mm, or a length of 350mm and a width of 280mm, etc., but the depth cannot be changed, resulting in poor adaptability and inconsistent suction force. This leads to poor application results in this field because bags for compound fertilizers, urea, nitro fertilizers, etc., vary in size and contain granular materials. If the bag size is fixed, and the particles are large, then when the bag is filled to 50kg / 40kg, the filling is compact and the density is low, making suction easy. If the particles are small, then when the bag is filled to 50kg / 40kg, the filling is looser and the density is higher, making the bag appear incomplete and prone to falling out during suction.

[0052] Therefore, for loose materials, in order to ensure the stability of adsorption, the suction cup cavity needs to be deepened. During adsorption, more material and bag should enter the inner side of the suction cup cavity to increase the adsorption surface area and increase the adsorption force. Therefore, the depth of the suction cup cavity needs to vary depending on the material. For suction cup manufacturers, this means that they need to prepare multiple specifications of suction cup body 310 to meet the different needs of customers, which undoubtedly increases the burden on manufacturers.

[0053] Therefore, the following improvements have been made:

[0054] like Figure 9 The suction cup body 310 is a "layered" type, consisting of multiple plates fixed together by through screws from top to bottom: a top plate 351 of the suction cup body, multiple middle plates 352 of the suction cup bodies, and a bottom plate 353 of the suction cup body. The space between two adjacent plates is filled with sealant.

[0055] In actual use, after determining the depth of the suction cup cavity for different particle types of material bags, the number of suction cup middle plates 352 can be calculated, and then assembly can proceed. In this way, there is no need to prepare "multiple specifications of suction cup bodies 310", which brings convenience to use, and the suction cups are universal, expanding the scope of application.

[0056] like Figure 11 When the suction cup lip 320 is a sponge 322, the lower surface of the suction cup body base plate 353 is provided with a sponge mounting groove 356, and the upper part of the sponge 322 is located in the sponge mounting groove 356.

[0057] like Figure 9 When the suction cup lip 320 is a rubber lip 321, a ring of inner flange 354 is fixed on the lower inner wall of the suction cup body base plate 353, and the inner flange 354 becomes the second constriction area.

[0058] like Figure 1-11 Its working principle is as follows:

[0059] S1. Preparation: The fixed frame 100 is connected to the robotic arm of the robot, and the outlet of the suction pipe 210 is connected to the suction equipment.

[0060] S2, Wing Deployment: The piston end 441 of the swing cylinder 440 retracts, the swing rod 430 rotates outward, the rotating shaft 420 rotates synchronously, and the wing 410 deploys.

[0061] S3, Shock Absorber Lock Open: The piston part 501 of the locking cylinder 500 retracts, the locking block 502 moves away from the cone block 304, and the shock absorber plate 303 can slide along the positioning post 514 to absorb shock.

[0062] S4, One movement: The robotic arm drives the suction cup 310 to the initial position.

[0063] S5. Adsorption: The suction cup lip 320 is placed on the upper surface of the material 900. The suction device starts to draw air, and the suction mechanism 200 exhausts air outward. The suction cup lip 320 gradually seals onto the material. When the vacuum pressure inside the suction cup cavity reaches the set value, a signal is sent to the robotic arm to move upward, and the suction cup adsorbs the material 900 and leaves the adsorption position. This is existing technology and will not be described in detail.

[0064] During this process, if the material 900 is pressed against the inner surface of the top wall of the suction cup body 310, the material isolates the "connection between the lower half of the suction cup body 310 and the air vent 301", and the ordinary suction cup cannot draw air, so the suction force is limited.

[0065] In this design, there is a feature that "the side ventilation groove 340 is connected to the main ventilation port 301 through the top ventilation groove 330". Even if the material "isolates the lower half of the suction cup body 310 from the main ventilation port 301", the gas in the lower half of the suction cup body 310 can reach the main ventilation port 301 through the side ventilation groove 340 and the top ventilation groove 330, and can still "continue to pump air". Therefore, the adsorption force is large.

[0066] During this process, the spring damping mechanism 510 facilitates the precise placement of the suction cup lip 320 on the upper surface of the material 900.

[0067] S6, Locking: The piston part 501 of the locking cylinder 500 extends, the locking block 502 abuts against the cone block 304, and presses the damping plate 303 against the damping plug 511. The damping plate 303 can no longer slide along the positioning post 514, and the spring damping mechanism is locked.

[0068] S7. Secondary motion: The robotic arm drives the suction cup 310 to the target position.

[0069] In the initial stage of the movement, the wing plates close. Specifically, the piston end 441 of the swing cylinder 440 extends, the swing rod 430 rotates inward, the rotating shaft 420 rotates synchronously, and the wing plate 410 is attached to the side wall of the material 900. In this way, the two wing plates 410 tightly hold the material 900 to reduce the influence of the "motion inertia of the material 900" on the suction cup adsorption force.

[0070] S8. Removal: The suction mechanism 200 has a pneumatic valve at its end. When the valve is opened, the inside of the suction cup cavity is connected to the atmosphere. At the same time, positive pressure compressed air is blown into the cavity to quickly break the vacuum. The suction cup lip 320 quickly leaves the material, and the material 900 is placed at the target position. This is existing technology and will not be described in detail.

[0071] Features of this application:

[0072] S1. For bags with internal lumps or uneven surfaces, use rubber suction cups with lip-shaped seals at the ends to accommodate the unevenness of the bag surface.

[0073] S2. The suction cup cavity is designed with a multi-layered partition structure. The layers are coated with sealant. When the type of bag changes, the depth of the cavity can be adjusted by changing the number of partitions, thereby changing the surface area of ​​the bag to be adsorbed and thus changing the suction strength, making it compatible with various types of materials.

[0074] S3. The internal air passage of the suction cup has been redesigned. Multiple air passages are opened on the side of the cavity. When the suction cup comes into contact with the surface of the bag, a sealed environment is formed. At this time, if the vacuum is continued, the bag will enter the cavity. Multiple air passages on the side ensure the uniformity of the vacuum.

[0075] S4. An anti-sway mechanism was designed: When suctioning the bag, the upper and lower cylinders retract, providing a certain amount of sway to the robotic arm, accommodating uneven bag surfaces or bag tilting. After the suction cup picks up the bag, the upper and lower cylinders extend, locking the flexible spring structure of the suction cup. Simultaneously, the clamping mechanism cylinders on both sides extend, enclosing the bag inside the anti-sway mechanism. Therefore, when the robotic arm moves at high speed, the bag remains aligned with the suction cup, preventing swaying or misalignment between the bag and the suction cup, which could lead to vacuum breakage.

[0076] S5. Fast response: In the loading field, when the robotic arm is destacking, conventional suction cups cause the robotic arm to operate very slowly due to the risk of "switching", with a single cycle time of 6 seconds. In this application, because there is no risk of "switching", the robotic arm operates faster, and the single cycle time is shortened to 3.5 seconds, which is 40% faster than the traditional suction cup method.

[0077] For other details, please refer to the existing technology.

[0078] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several changes and improvements without departing from the overall concept of the present invention, and these should also be considered within the scope of protection of the present invention.

Claims

1. A composite suction cup for bagged materials, comprising a fixed frame (100), on which a suction mechanism (200) and a suction cup mechanism (300) are fixed. The suction cup mechanism (300) includes a suction cup body (310), on which a suction mechanism (200) is provided. The suction mechanism (200) includes a suction pipe (210), and the suction end (211) of the suction pipe (210) is connected to the air vent (301) on the top wall of the suction cup body (310). Its characteristic is that: The inner surface of the top wall of the suction cup body (310) is provided with a top ventilation groove (330), and the inner surface of the side wall of the suction cup body (310) is provided with a plurality of vertically arranged side ventilation grooves (340). The top ventilation groove (330) includes a plurality of intersecting top horizontal grooves (331) and top vertical grooves (332). The side ventilation grooves (340) are connected to the main ventilation port (301) through the top ventilation grooves (330). A spring damping mechanism (510) is provided between the fixed frame (100) and the suction mechanism (200). The fixed frame (100) fixes the cylinder body of the upper and lower locking cylinder (500), and the piston part (501) of the locking cylinder (500) fixes the locking block (502). The suction mechanism (200) is provided with a cone block (304), and the locking block (502) is bowl-shaped. The outer surface shape of the locking block (502) matches the inner surface shape of the locking block (502). The spring damping mechanism (510) includes a positioning post (514), the upper end of which is fixed on the fixed frame (100). The top of the suction mechanism (200) is a damping plate (303). The positioning post (514) passes through the through hole of the damping plate (303). A compression spring (512) is provided between the damping plate (303) and the fixed frame (100). The suction cup body (310) is a "layered" type, consisting of multiple plates fixed together by through screws from top to bottom: a top plate (351) of a suction cup body, multiple middle plates (352) of suction cup bodies, and a bottom plate (353) of a suction cup body. The space between two adjacent plates is filled with sealant.

2. The composite suction cup for bagged materials as described in claim 1, characterized in that: The bottom of the suction cup body (310) is a suction cup lip (320), which is made of elastic material.

3. The composite suction cup for bagged materials as described in claim 2, characterized in that: The bottom of the suction cup lip (320) is a rubber lip (321), and the cross-section of the rubber lip (321) is "S" shaped, which includes a V-shaped area (327), a constriction area (326) and a flared area (325) from top to bottom.

4. The composite suction cup for bagged materials as described in claim 1, characterized in that: The inhalation mechanism (200) is symmetrically equipped with movable protective gear (400) on its sides.

5. The composite suction cup for bagged materials as described in claim 4, characterized in that: The movable protective gear (400) moves in a swinging manner, specifically: the movable protective gear (400) includes a wing plate (410), the wing plate (410) is fixed on a rotating shaft (420), the rotating shaft (420) is rotatably connected to a fixed frame (100), and it is connected to a drive power mechanism; The driving power mechanism is a swing cylinder (440). The cylinder body end of the swing cylinder (440) is hinged to the fixed frame (100), the piston end (441) of the swing cylinder (440) is hinged to one end of the swing rod (430), and the other end of the swing rod (430) is fixed to the rotating shaft (420). A matrix of wingplate holes (411) is provided on the wingplate (410).

6. The composite suction cup for bagged materials as described in claim 1, characterized in that: A compression spring (512) is fitted over a positioning post (514), and a plug (511) is fixed at the lower end of the positioning post (514). The plug (511) is located below the damping plate (303).

7. The composite suction cup for bagged materials as described in claim 1, characterized in that: When the suction cup lip (320) is a sponge (322), the lower surface of the suction cup body base plate (353) is provided with a sponge mounting groove (356), and the upper part of the sponge (322) is located in the sponge mounting groove (356); When the suction cup lip (320) is a rubber lip (321), a ring of inner flange (354) is fixed on the lower inner wall of the suction cup body base plate (353), and the inner flange (354) becomes the second constriction area.

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