Low-gas-consumption vacuum breaking end effector multiplexing vacuum pump and vacuum breaking method

Abstract

The invention discloses a low-gas-consumption vacuum breaking end effector of a reused vacuum pump and a vacuum breaking method, and belongs to the field of logistics automation. The problems that an existing actuator depends on an additional positive pressure air source, energy consumption is high, the structure is redundant, and old equipment transformation compatibility is poor are solved. The actuator comprises a suction cup connecting plate, a vacuum adsorption assembly, a mechanical arm connecting structure, a vacuum pump, a first stop valve, a second stop valve, an air distribution block and the like, the gas distribution block is provided with a main gas inlet and an independent gas outlet, the tail gas pipeline is connected with the second stop valve and the gas distribution block, and the three-way gas path connector is communicated with the gas distribution block. According to the vacuum breaking method, gas paths are switched through the stop valves, vacuumizing is conducted in the adsorption stage, the vacuum pump is reused as a channel in the release stage, and atmosphere is subjected to vacuum breaking through a short path. The device is low in gas consumption, high in vacuum pump utilization rate, simple in structure, adaptive to upgrading of old equipment, capable of meeting the high-speed sorting requirement and high in practical value.

Description

Technical Field

[0001] This invention relates to the fields of logistics automation and industrial robot technology, specifically to a low-consumption vacuum-breaking end effector and vacuum-breaking method for a logistics sorting robot that reuses vacuum pump exhaust gas, particularly for logistics sorting robots that require the elimination of air compressors, optimization of vacuum-breaking energy consumption, and compatibility with upgrades to older equipment. Background Technology

[0002] In the field of automated logistics sorting, the end effector, as the core execution component of a logistics sorting robot, directly affects the operating cost and operational continuity of the sorting equipment due to its vacuum breaking efficiency and energy consumption level. Currently, the vacuum breaking function of the end effector mainly relies on an air compressor to provide a positive pressure air source, which is then transported to the suction cup end through long-distance pipelines to release the vacuum, or an independent air pump and dedicated air circuit are added. This approach presents the following significant technical challenges: Redundancy in vacuum breaking system: It requires additional configuration of air compressor (or air pump) and dedicated positive pressure air circuit, which increases equipment purchase cost and installation space occupation. Moreover, the air compressor has high energy consumption, resulting in high energy costs in the long term. Large gas consumption for vacuum breaking: Positive pressure gas needs to be transported to the suction cup end through a long pipeline. The gas needs to fill the entire pipeline volume before it can act on the suction cup. The gas consumption for pipeline filling accounts for more than 70% of the total gas consumption. Low utilization rate of vacuum pump: In the existing technology, the vacuum pump only undertakes the function of vacuuming and adsorption. During the vacuum breaking stage, it is idle. Its own sealed flow channel is not reused, resulting in a waste of equipment resources. Poor compatibility of retrofitting old equipment: If optimization of existing equipment is required, an additional air compressor and positive pressure air circuit must be installed, which involves a large amount of modification, a long cycle, and high replacement costs.

[0003] In response to the aforementioned technical shortcomings of "reliance on air compressors leading to system redundancy, high energy consumption, low vacuum pump utilization, and poor compatibility with upgrades," there is an urgent need for an end effector optimization solution that can reuse vacuum pumps and existing air circuits, eliminate air compressors, focus on reducing the volume of air consumed by vacuum breaking, and has a simple structure that is compatible with the upgrade of old equipment. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention optimizes the basic structure of existing end effectors in logistics sorting robots. Its core functionality involves "reusing vacuum pump exhaust gas + dual shut-off valve gas path switching + short-path directional conveying," achieving low-air-consumption vacuum breaking without an air compressor. The specific structure is as follows: A low-gas-consumption vacuum-breaking end effector for reusing a vacuum pump includes a suction cup connecting plate, multiple vacuum adsorption components, a robotic arm connecting structure, and a vacuum pump. The vacuum adsorption components are mounted on the suction cup connecting plate, and the robotic arm connecting structure is fixed to the suction cup connecting plate. The vacuum pump provides negative pressure adsorption power to the vacuum adsorption components. The device is characterized by further including a first shut-off valve, a second shut-off valve, a gas distribution block, an exhaust gas pipeline, and a short-connecting hose. The first shut-off valve is connected in series to the inlet end of the vacuum pump, and the second shut-off valve is connected in series to the outlet end of the vacuum pump. Both the first and second shut-off valves have three ports. One port of the first shut-off valve is connected to a three-way valve of the vacuum adsorption component. The gas distribution pipe is connected in two ways: one port is connected to the inlet of the vacuum pump, and the other port is open to the atmosphere; one port of the second shut-off valve is connected to the outlet of the vacuum pump, one port is sealed to one end of the exhaust gas pipeline, and the other port is open to the atmosphere; the gas distribution block is assembled on the robotic arm connection structure, and the gas distribution block includes a total inlet and a number of independent outlets matching the number of vacuum adsorption components, each of which integrates a one-way blowing valve; the other end of the exhaust gas pipeline is sealed to the total inlet of the gas distribution block; one connector of the three-way gas distribution pipe is used to connect to the vacuum pump circuit, and the other connector is sealed to the corresponding independent outlet of the gas distribution block through a short-connecting hose.

[0005] Preferably, both the first shut-off valve and the second shut-off valve are two-position three-way solenoid directional valves.

[0006] Preferably, the interfaces of the first and second shut-off valves that are open to the atmosphere are equipped with dust filters.

[0007] Preferably, the airflow direction of the one-way blowing valve is only from the gas distribution block to the vacuum adsorption component.

[0008] Preferably, the gas distribution block is arranged near the free end of the robotic arm connection structure and is fixed to the robotic arm connection structure by a locking member.

[0009] Preferably, the robotic arm connection structure includes a connecting rod and a flange. One end of the connecting rod is fixed to the suction cup connecting plate, and the other end is fixed to the flange. The gas distribution block is fitted onto the outside of the connecting rod.

[0010] Preferably, the vacuum adsorption assembly includes a floating rod, a vacuum suction cup, and the three-way air connector. The top of the floating rod is sealed to the three-way air connector, and the bottom is fixedly connected to the vacuum suction cup.

[0011] A method based on claims 1-7 The vacuum breaking method of any of the end effectors is characterized by comprising the following steps: (1) Vacuum adsorption stage: the control system sends an adsorption command, the first shut-off valve switches to the state where the first interface and the second interface are connected and the third interface is closed, the second shut-off valve switches to the state where the third interface is open and the first interface and the second interface are closed; the one-way blowing valve on the gas distribution block automatically shuts off due to the opposite airflow direction, the vacuum pump starts to generate negative pressure, and the gas passes through the vacuum suction cup → floating rod → three-way gas connector → first shut-off valve → vacuum pump to form a stable negative pressure to adsorb the goods; (2) Vacuum breaking and release stage: the control system sends a release command, the first shut-off valve switches to the state where the third interface is open and the first interface is closed, the second shut-off valve switches to the state where the first interface and the second interface are connected and the third interface is closed; the vacuum pump stops generating negative pressure and reuses it as a gas path channel, and the atmosphere passes through the third interface of the first shut-off valve → the internal channel of the vacuum pump → the second shut-off valve → the tail gas pipeline → the main air inlet of the gas distribution block → the independent air outlet → the one-way blowing valve → the short-connected hose → the three-way gas connector → the floating rod → the vacuum suction cup to quickly break the negative pressure and release the goods. Beneficial effects

[0012] 1. Eliminate air compressor, save energy and reduce emissions: There is no need to configure additional positive pressure power components such as air compressor or air pump. Vacuum breaking is achieved by using the exhaust gas of vacuum pump (atmosphere is transported through the vacuum pump channel), completely eliminating the purchase cost and operating energy consumption of air compressor, and the energy saving and emission reduction effect is significant. 2. Significantly reduced vacuum breaking gas consumption: Through a short-path delivery structure, the core gas working volume for vacuum breaking is greatly reduced from the traditional "long pipeline + suction cup" solution, reducing gas consumption to 1 / 3 of the original air compressor solution, which can significantly reduce energy costs in the long term. 3. Improved vacuum pump utilization: Breaking through the single-function limitation of traditional vacuum pumps that are "only used for vacuuming", the pump achieves a dual purpose of "vacuuming during adsorption and acting as a channel during release" through gas path switching, making full use of existing equipment resources and avoiding functional idleness and waste; 4. Strong compatibility for retrofitting old equipment: All new components are externally added, without the need to modify the original core structure such as suction cup connection plate, floating rod, vacuum suction cup, etc., nor to adjust the internal layout of the air source module. Existing equipment can be directly upgraded, shortening the retrofit cycle and reducing retrofit costs. 5. Excellent vacuum breaking efficiency and stability: Short-path conveying reduces gas filling time, significantly improving vacuum breaking response speed and making it suitable for high-speed sorting scenarios; One-way blowing valve ensures gas path isolation and no leakage during vacuuming, and directional gas delivery during vacuum breaking, reducing equipment failure rate; 6. Adapts to compact installation requirements: The gas distribution block is fitted into the connecting rod of the robotic arm connection structure. The exhaust pipe and short connecting hose are compactly laid out, without taking up additional installation space for the sorting robot, perfectly adapting to the compact design requirements of logistics sorting equipment. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the end effector of Example 1.

[0015] Figure 2 This is a schematic diagram of Example 1.

[0016] In the diagram: 1. Suction cup connecting plate; 2. Vacuum adsorption assembly; 21. Floating rod; 22. Vacuum suction cup; 23. Air connector; 231. First connector; 232. Second connector; 3. Connecting rod; 4. Flange; 5. Vacuum pump; 6. Gas distribution block; 61. Main air inlet; 62. Independent air outlet; 63. One-way air blowing valve; 7. First shut-off valve; 71. First interface; 72. Second interface; 73. Third interface; 8. Second shut-off valve; 81. First interface; 82. Second interface; 83. Third interface; 9. Exhaust gas pipeline. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Referring to Figures 1-2, this embodiment takes the end effector of the low-air-consumption vacuum breaking logistics sorting robot adapted to 7 sets of vacuum adsorption components 2 as an example to describe its structural assembly, connection relationship and working process in detail. It focuses on the design and adaptation logic of the core innovative components, and only briefly describes the basic structure to clarify the assembly background.

[0019] The suction cup connecting plate 1 has seven mounting positions for vacuum adsorption components 2, one in the center and the other six evenly distributed around the central component. The vacuum adsorption components 2 are fixed to the suction cup connecting plate 1 using locking bolts. Each vacuum adsorption component 2 includes a floating rod 21, a vacuum suction cup 22, and an air connector 23. The top of the floating rod 21 is sealed to the air connector 23, and the bottom is fixed to the vacuum suction cup 22. One end of the connecting rod 3 of the robotic arm connecting structure is fixed to the suction cup connecting plate 1, and the other end is connected to the flange 4. The vacuum pump 5 provides negative pressure adsorption power for the vacuum adsorption components 2. The assembly relationship of the above basic structure remains unchanged.

[0020] In this embodiment, the actuator is equipped with two three-way shut-off valves, namely a first shut-off valve 7 and a second shut-off valve 8. The first shut-off valve 7 is connected in series at the air inlet of the vacuum pump 5 and has three ports: a first port 71, a second port 72, and a third port 73. The first port 71 is connected to the gas path connector 23, the second port 72 is connected to the air inlet of the vacuum pump 5 through a sealed pipe, and the third port 73 is open to the atmosphere and equipped with a dust filter to filter impurities entering the gas path. The second shut-off valve 8 is connected in series at the air outlet of the vacuum pump 5 and also has three ports. Its first port 81 is connected to the air outlet of the vacuum pump 5 through a sealed pipe, the second port 82 is fixedly connected to one end of the exhaust gas pipe 9, and the third port 83 is open to the atmosphere and is also equipped with a dust filter, forming a symmetrical atmosphere access structure with the third port 73 of the first shut-off valve 7.

[0021] The air distribution block 6 is fitted onto the outside of the connecting rod 3 of the robotic arm connection structure and is positioned close to the flange 4. It is secured with clamps to ensure no relative rotation between the air distribution block 6 and the connecting rod 3. After assembly, the position of the air distribution block 6 does not affect the movement trajectory of the robotic arm. The air distribution block 6 has one main air inlet 61 and seven independent air outlets 62 (the same number as the vacuum adsorption components 2 in the embodiment). The seven independent air outlets 62 correspond one-to-one with the seven sets of vacuum adsorption components 2. Each independent air outlet 62 integrates a one-way blowing valve 63. The airflow direction of the one-way blowing valve 63 is limited to from the air distribution block 6 to the vacuum adsorption components 2. Reverse airflow cannot pass through, achieving one-way isolation of the air path.

[0022] One end of the exhaust pipe 9 is sealed to the second interface 82 of the second shut-off valve 8, and the other end is sealed to the main air inlet 61 of the gas distribution block 6, forming a continuous air passage from the second shut-off valve 8 to the gas distribution block 6. The gas connection 23 adopts a T-type three-way quick-connect fitting, which includes a first connector 231 and a second connector 232. The first connector 231 is connected to the original vacuum air passage, and the second connector 232 is connected to one end of the short connecting hose. The bottom of the gas connection 23 is sealed to the top of the floating rod 21, ensuring that the airflow can be smoothly transmitted to the air chamber of the vacuum suction cup 22 through the built-in air passage of the floating rod 21. There are a total of 7 short connecting hoses, and their other ends are sealed to one of the 7 independent air outlets 62 of the gas distribution block 6, forming branch air passages from the gas distribution block 6 to the gas connection 23.

[0023] Core working process 1. Vacuum adsorption stage When the logistics sorting robot needs to pick up goods, the control system sends a pick-up command to the first shut-off valve 7 and the second shut-off valve 8. Upon receiving the command, the first shut-off valve 7 switches to a state where its first interface 71 and second interface 72 are connected, and its third interface 73 is closed (i.e., the interface open to the atmosphere is closed). The second shut-off valve 8 responds synchronously, switching to a state where its first interface 81 and third interface 83 are connected (i.e., the interface open to the atmosphere is open), and its second interface 82 is closed. At this time, the one-way air valve 63 on the air distribution block 6 automatically closes because the airflow direction is opposite to its own conduction direction, preventing gas from flowing into the air distribution block 6 and the exhaust pipe 9. The vacuum pump 5 starts and generates negative pressure. Gas flows into the air chamber of the vacuum suction cup 22, passing sequentially through the built-in air passage of the floating rod 21, the first connector 231 of the air path connector 23, the first interface 71 of the first shut-off valve 7, and the second interface 72 of the first shut-off valve 7, finally entering the vacuum pump 5, forming a stable negative pressure environment. The vacuum suction cup 22 firmly picks up the goods and keeps them in a fixed state.

[0024] 2. Vacuum breaking and release stage When the goods need to be released upon reaching the target location, the control system sends a release command to the first shut-off valve 7 and the second shut-off valve 8. The first shut-off valve 7 switches in reverse, to a state where its third port 73 is open and its first port 71 is closed; the second shut-off valve 8 switches in reverse synchronously, to a state where its first port 81 and second port 82 are connected and its third port 83 is closed. Atmospheric air enters through the third port 73 of the first shut-off valve 7 (after being filtered by a dust filter), flows through the vacuum pump 5 (at this time, the vacuum pump 5 stops generating negative pressure and is only reused as an air passage), and then sequentially passes through the first port 81 of the second shut-off valve 8, the second port 82 of the second shut-off valve 8, the exhaust pipe 9, and the main air inlet 61 of the air distribution block 6. The air is then distributed to seven independent air outlets 62 through the internal air passages of the air distribution block 6. After opening the one-way blowing valve 63, the air is delivered through the short-connecting hose to the second connector 232 of the air passage connector 23. The gas then flows through the second connector 232 of the air passage connector 23 into the internal air passage of the floating rod 21, and finally directly into the air chamber of the vacuum suction cup 22, quickly breaking the negative pressure and allowing the goods to fall smoothly, completing the release process. After release, the control system switches the states of the first shut-off valve 7 and the second shut-off valve 8, and the equipment returns to the ready-to-adsorb state, awaiting the next sorting instruction.

Claims

1. A low-gas-consumption vacuum-breaking end effector for reusing a vacuum pump, comprising a suction cup connecting plate, multiple vacuum adsorption components, a robotic arm connecting structure, and a vacuum pump, wherein the vacuum adsorption components are mounted on the suction cup connecting plate, the robotic arm connecting structure is fixed to the suction cup connecting plate, and the vacuum pump is used to provide negative pressure adsorption power for the vacuum adsorption components; characterized in that, It also includes a first shut-off valve, a second shut-off valve, a gas distribution block, an exhaust gas pipeline, and a short-connecting hose; the first shut-off valve is connected in series to the inlet end of the vacuum pump, and the second shut-off valve is connected in series to the outlet end of the vacuum pump, and both the first and second shut-off valves have three ports; one port of the first shut-off valve is connected to the three-way gas connector of the vacuum adsorption component, one port is connected to the inlet of the vacuum pump, and the remaining port is open to the atmosphere; one port of the second shut-off valve is connected to the outlet of the vacuum pump, one port is sealed to one end of the exhaust gas pipeline, and the remaining port is open to the atmosphere; the gas distribution block is assembled on the robotic arm connection structure, and the gas distribution block includes a total inlet and a number of independent outlets matching the number of vacuum adsorption components, each independent outlet integrating a one-way blowing valve; the other end of the exhaust gas pipeline is sealed to the total inlet of the gas distribution block; one connector of the three-way gas connector is used to connect to the vacuum pumping circuit, and the other connector is sealed to the corresponding independent outlet of the gas distribution block through a short-connecting hose.

2. The low-gas-consumption vacuum breaking end effector of the reusable vacuum pump according to claim 1, characterized in that, Both the first and second shut-off valves are two-position three-way solenoid directional valves.

3. The low-gas-consumption vacuum breaking end effector of the reusable vacuum pump according to claim 1, characterized in that, Both the first and second shut-off valves are equipped with dust filters at their atmospheric vents.

4. The low-gas-consumption vacuum breaking end effector of the reusable vacuum pump according to claim 1, characterized in that, The airflow direction of the one-way blowing valve is only that the air distribution block points to the vacuum adsorption component.

5. The low-gas-consumption vacuum breaking end effector for a reused vacuum pump according to claim 1, characterized in that, The gas distribution block is arranged near the free end of the robotic arm connection structure and is fixed to the robotic arm connection structure by a locking device.

6. The low-gas-consumption vacuum breaking end effector of the reusable vacuum pump according to claim 1, characterized in that, The robotic arm connection structure includes a connecting rod and a flange. One end of the connecting rod is fixed to the suction cup connecting plate, and the other end is fixed to the flange. The gas distribution block is fitted onto the outside of the connecting rod.

7. The low-gas-consumption vacuum breaking end effector of the reusable vacuum pump according to claim 1, characterized in that, The vacuum adsorption assembly includes a floating rod, a vacuum suction cup, and a three-way air connector. The top of the floating rod is sealed to the three-way air connector, and the bottom is fixedly connected to the vacuum suction cup.

8. A method for breaking a vacuum based on any one of the end effectors according to claims 1-7, characterized in that, The process includes the following steps: (1) Vacuum adsorption stage: The control system sends an adsorption command, the first shut-off valve switches to the state where the first interface and the second interface are connected and the third interface is closed, the second shut-off valve switches to the state where the third interface is open and the first interface and the second interface are closed; the one-way blowing valve on the gas distribution block automatically shuts off due to the opposite airflow direction, the vacuum pump starts to generate negative pressure, and the gas passes through the vacuum suction cup → floating rod → three-way gas connector → first shut-off valve → vacuum pump to form a stable negative pressure to adsorb the goods; (2) Vacuum release stage: The control system sends a release command, the first shut-off valve switches to the state where the third interface is open and the first interface is closed, the second shut-off valve switches to the state where the first interface and the second interface are connected and the third interface is closed; the vacuum pump stops generating negative pressure and reuses it as a gas path channel, and the atmosphere passes through the third interface of the first shut-off valve → the internal channel of the vacuum pump → the second shut-off valve → the tail gas pipeline → the main air inlet of the gas distribution block → the independent air outlet → the one-way blowing valve → the short-connected hose → the three-way gas connector → the floating rod → the vacuum suction cup to quickly break the negative pressure and release the goods.

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