Sucker type carrying device and method for carriage loading

Abstract

The invention provides a suction cup type carrying device and method for carriage loading, and belongs to the technical field of automatic logistics equipment. Comprising a lifting mechanism, a supporting and inserting mechanism and a single-control suction cup assembly. The lifting mechanism is connected with the mechanical arm and drives the supporting and inserting mechanism to lift; the single-control suction cup assembly is used for adsorbing goods; the supporting and inserting mechanism can stretch out and draw back horizontally and lift goods from the bottom, and cooperative operation of upper suction and lower supporting is achieved. Each suction nozzle of the sucker is independently controlled to adapt to different surfaces; the supporting and inserting mechanism adopts multi-speed transmission and is compact in structure and large in stroke. The device is further provided with a detection sensor, the adsorption state is monitored in real time, and the carrying safety and reliability are improved. The method comprises the steps of positioning, adsorbing, lifting, carrying and releasing, and is suitable for a complex cargo environment in a carriage.

Description

Technical Field

[0001] This invention relates to the field of automated logistics equipment technology, and in particular to a suction cup type handling device and method for loading cargo into a vehicle. Background Technology

[0002] In logistics, warehousing, and manufacturing, the use of robotic arms in conjunction with end effectors for automated handling and palletizing of goods has become a key technology for improving efficiency. Among these, suction cup handling devices based on the principle of vacuum adsorption are widely used due to their non-contact nature and adaptability to smooth surfaces.

[0003] However, in complex real-world scenarios such as loading cargo into freight cars, existing suction cup handling devices face significant technical bottlenecks: First, goods (such as cardboard boxes) inside freight cars often vary in size and are stacked haphazardly. Ordinary suction cups struggle to apply even force to each package, and when gripping irregular surfaces or stacked goods with "steps," uneven suction or ineffective adhesion can easily cause goods to fall off midway. Second, traditional suction cups rely solely on vacuum suction, lacking a physical support mechanism, posing safety hazards when handling heavy or unstable goods. Furthermore, most devices use uniformly controlled suction nozzles, failing to selectively adhere to the shape of the goods, resulting in poor adaptability. Simultaneously, the lack of effective real-time status monitoring means that the risk of suction failure or goods loosening cannot be detected promptly during handling, leading to insufficient operational reliability and low efficiency.

[0004] Therefore, there is an urgent need for a new type of handling device and method that can adapt to the complex cargo environment of a wagon, achieve stable gripping and handling, and have intelligent monitoring functions. Summary of the Invention

[0005] This invention provides a suction cup-type handling device and method for loading cargo into a vehicle, which solves the technical defects of existing suction cup-type handling devices in complex cargo environments such as vehicle compartments, including poor adaptability, unstable gripping, easy dropping of goods, lack of safe lifting and real-time monitoring capabilities.

[0006] On the one hand, the present invention provides a suction cup type handling device for loading cargo into a vehicle, including a lifting mechanism, a support mechanism, and a single-control suction cup assembly; The lifting mechanism is used to connect to the end of the robotic arm and can drive the inserting mechanism to move up and down relative to the single-control suction cup assembly; The single-control suction cup assembly is fixedly connected to the lifting mechanism and is used to adsorb goods; The supporting mechanism is driven and connected to the lifting mechanism and can be driven to rise and fall. The supporting mechanism itself has a horizontal telescopic function for lifting or releasing goods from the bottom.

[0007] According to the present invention, a suction cup type handling device for loading cargo into a vehicle includes a lifting mechanism comprising a flange, a suction cup side plate, a lifting screw connecting plate, a suction cup top plate, a lifting servo motor, a lifting nut drive plate, a bottom support connecting plate, a lifting screw, a lifting screw nut, a side plate connecting plate, and a lifting guide rail slider. The support mechanism includes a base support drive plate, a horizontal servo motor, a middle support drive plate, a synchronous pulley, a base support side plate, a synchronous belt, an outer support synchronous belt pressure plate, a synchronous belt pressure plate, a base support middle support plate, a horizontal lead screw, a base support outer support plate, a lead screw support base fixing plate, a profile support plate, a horizontal lead screw nut, a horizontal guide rail slider, and a base support rear side plate. The single-control suction cup assembly includes a valve body, a suction cup cavity, a vacuum nozzle, a suction cup connector, and a vacuum source connector.

[0008] According to the present invention, a suction cup type handling device for loading cargo into a vehicle is provided, wherein the lifting mechanism is connected to the end of a robotic arm via the flange; The support mechanism is fixedly connected to the base support connecting plate of the lifting mechanism via the base support drive plate; The single-control suction cup assembly is fixedly connected to the suction cup side plate of the lifting mechanism via the suction cup connecting seat.

[0009] According to the present invention, a suction cup type handling device for loading cargo into a vehicle is provided, wherein the suction cup side plates are fixedly connected to both sides of the suction cup top plate; The lifting screw connecting plate is fixed to the suction cup side plate; The lifting servo motor is fixed to the lifting lead screw connecting plate, and its output shaft is connected to the lifting lead screw; The lifting screw nut is screwed onto the lifting screw and is fixedly connected to the lifting nut drive plate; The side plate connecting plate is fixedly connected to the lifting nut drive plate and is connected to the lifting guide rail slider. The bottom support connecting plate is fixedly connected to the side plate connecting plate.

[0010] According to the present invention, a suction cup type handling device for loading cargo into a vehicle includes a horizontal servo motor fixed to the rear side plate of the base, the output shaft of which is connected to one end of the horizontal lead screw, and the other end of the horizontal lead screw is supported by the lead screw support base fixing plate. The horizontal lead screw nut is screwed onto the horizontal lead screw and is fixedly connected to the middle insertion drive plate; The base support insert plate is fixedly connected to the insert drive plate, and is slidably connected to the base support side plate via the horizontal guide rail slider.

[0011] According to the present invention, a suction cup type handling device for loading cargo into a vehicle is provided, wherein each end of the insert plate in the base is provided with a synchronous wheel; The timing belt is wound around the two timing pulleys, one side of which is fixedly connected to the bottom support side plate through the timing belt pressure plate, and the other side is fixedly connected to the bottom support outer plate through the outer plate timing belt pressure plate. The outer insert plate of the base support is connected to the profile support plate; The insert mechanism is configured such that when the horizontal servo motor drives the middle insert plate of the base to move, the outer insert plate of the base and the profile support plate move in the opposite direction at a double speed through the transmission of the synchronous pulley and the synchronous belt.

[0012] According to the present invention, a suction cup type handling device for loading cargo into a vehicle is provided, wherein the suction cup cavity is connected to the suction cup connecting seat; Multiple vacuum nozzles are mounted on one side surface of the suction cup cavity; Multiple valve bodies are mounted on the other side surface of the suction cup cavity and are connected to the vacuum source connection port; Each valve body independently controls a corresponding vacuum nozzle.

[0013] According to the present invention, a suction cup type handling device for loading cargo into a vehicle has a valve body having a first air hole communicating with the suction cup cavity, a second air hole communicating with the corresponding vacuum nozzle, and a third air hole communicating with the outside atmosphere. The valve body is configured to have two operating states: in the first operating state, the first vent is connected to the second vent to provide adsorption force; in the second operating state, the second vent is connected to the third vent to release cargo.

[0014] According to the present invention, a suction cup type handling device for loading cargo into a vehicle also includes a detection sensor, which is used to detect whether the cargo has been successfully suctioned.

[0015] On the other hand, the present invention provides a method for transporting goods using a suction cup-type handling device for loading cargo into a vehicle, comprising the following steps: (1) Control the movement of the robotic arm to move the single-control suction cup assembly above the goods to be transported; (2) Control the valve body in the single-control suction cup assembly to switch to the first working state, so that the corresponding vacuum nozzle generates suction force; (3) Determine whether the goods have been successfully adsorbed based on the signals from the detection sensors; (4) After confirming that the goods have been successfully adsorbed, control the lifting mechanism to drive the support mechanism to descend to the second position, and then control the support mechanism to drive the profile pallet to extend horizontally to the bottom of the goods to lift the goods; (5) Control the robotic arm to transport goods that have been adsorbed and lifted; (6) After reaching the target position, control the valve body to switch to the second working state to release the goods, then control the insert mechanism to drive the profile pallet to retract horizontally, and control the lifting mechanism to drive the insert mechanism to rise to the first position.

[0016] The suction cup-type handling device and method for loading cargo into a vehicle provided by this invention have the following advantages compared with the prior art: (1) The present invention provides a suction cup type handling device for loading cargo into a car body. By setting multiple independently controllable vacuum nozzles, it can selectively start and stop according to the shape and position of the cargo surface, effectively conforming to irregular surfaces and dealing with size differences; combined with a lifting and horizontally telescopic support mechanism, it realizes a collaborative operation mode of "suction from above and support from below". The suction mechanism provides initial gripping force, and the support mechanism hidden under the suction cup then extends and physically supports the cargo from the bottom, forming a dual guarantee of suction force and mechanical support force, which greatly reduces the risk of cargo falling during handling due to uneven force, stacking of steps or inertia. It is particularly suitable for handling cargo that is randomly stacked in the car body.

[0017] (2) The suction cup-type handling device for loading cargo into a vehicle provided by this invention employs a precision transmission method using a servo motor-driven ball screw in its support mechanism, ensuring high precision and rapid response in lifting and horizontal movement. The unique speed-multiplying transmission design, consisting of a synchronous pulley and a synchronous belt, allows the outer support plate of the base tray to move in the opposite direction at twice the speed when the middle support plate moves. This double-pitch telescopic mechanism achieves a larger effective support stroke within a limited space, shortens the action time, and significantly improves the efficiency of a single handling operation.

[0018] (3) The present invention provides a suction cup-type handling device for loading cargo into a vehicle, which integrates detection sensors. The negative pressure gauge can monitor the vacuum degree of the adsorption system in real time and accurately determine whether the adsorption is successful; the proximity switch can dynamically monitor the distance between the cargo and the device. During the handling process, the system continuously judges the status based on the sensor signals. Once an abnormal negative pressure or a sudden change in distance is detected, an alarm can be triggered immediately and the operation can be automatically suspended to remind the operator to intervene. This achieves process safety monitoring, effectively avoids cargo damage and equipment idling, and improves the reliability and intelligence level of the entire system.

[0019] (4) The suction cup-type handling device and method for loading cargo into a vehicle provided by this invention modularly integrates the lifting mechanism, the support mechanism, and the single-control suction cup assembly, resulting in a compact structure. It can be easily connected to the end of a standard robotic arm via a flange. Its working method is logically rigorous and the steps are clear: positioning, selective adsorption, confirmation, descent and lifting, monitoring and handling, and release and reset. This process not only ensures the reliability of the operation, but also allows the lifting mechanism to be completely hidden and stored when the device is not in operation through the sequential action and coordination of each mechanism, reducing the overall size, avoiding interference, and improving space utilization and equipment versatility. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a simulation and structural diagram of the gripping process of a suction cup-type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention. Figure 2 This is a side view of a suction cup-type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of the initial state of a suction cup-type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the lifting mechanism of a suction cup-type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of the support mechanism of a suction cup type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of the doubling mechanism in the inserting mechanism of a suction cup-type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of the structure of a single-control suction cup assembly of a suction cup-type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention.

[0022] Figure label: 1. Box body; 2. Suction cup handling device for loading cargo into the truck; 3. Flange; 4. Suction cup side plate; 5. Lifting screw connecting plate; 6. Suction cup top plate; 7. Lifting servo motor; 8. Lifting nut drive plate; 9. Base support connecting plate; 10. Lifting screw; 11. Lifting screw nut; 12. Side plate connecting plate; 13. Lifting guide rail slider; 14. Base support drive plate; 15. Horizontal servo motor; 16. Center drive plate; 17. Synchronous pulley; 18. 19. Side plate of base support; 20. Synchronous belt; 21. Outer insert plate and synchronous belt pressure plate; 22. Synchronous belt pressure plate; 23. Middle insert plate of base support; 24. Horizontal lead screw; 25. Outer insert plate of base support; 26. Lead screw support base fixing plate; 27. Profile support plate; 28. Horizontal lead screw nut; 29. ​​Horizontal guide rail slider; 30. Rear side plate of base support; 31. Valve body; 32. Suction cup cavity; 33. Vacuum nozzle; 34. Suction cup connecting seat; 35. Vacuum source connection port. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] The following is combined with Figures 1-7 This invention describes a suction cup-type handling device and method for loading cargo into a vehicle.

[0025] Figure 1 This is a simulation and structural diagram of the gripping process of a suction cup-type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention. Figure 2 This is a side view of a suction cup-type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of the initial state of a suction cup-type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention.

[0026] like Figure 1-3 As shown in the figure, an embodiment of the present invention provides a suction cup type handling device for loading cargo into a vehicle, including a lifting mechanism 101, a support mechanism 102, and a single-control suction cup assembly 103; the lifting mechanism 101 is used to connect to the end of a robotic arm and can drive the support mechanism 102 to move up and down relative to the single-control suction cup assembly 103; the single-control suction cup assembly 103 is fixedly connected to the lifting mechanism 101 and is used to absorb cargo; the support mechanism 102 is driven to connect to the lifting mechanism 101 and can be driven to move up and down by it, and the support mechanism 102 itself has a horizontal telescopic function for lifting or releasing cargo from the bottom.

[0027] Figure 4 This is a schematic diagram of the lifting mechanism of a suction cup-type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention.

[0028] like Figure 4 As shown in the figure, the present invention provides a suction cup type handling device for loading cargo into a vehicle. The lifting mechanism 101 includes a flange 3, a suction cup side plate 4, a lifting screw connecting plate 5, a suction cup top plate 6, a lifting servo motor 7, a lifting nut drive plate 8, a bottom support connecting plate 9, a lifting screw 10, a lifting screw nut 11, a side plate connecting plate 12, and a lifting guide rail slider 13.

[0029] In this invention, the lifting mechanism 101 is connected to the end of the robotic arm via the flange 3; the support mechanism 102 is fixedly connected to the bottom support connecting plate 9 of the lifting mechanism 101 via the bottom support drive plate 14; and the single-control suction cup assembly 103 is fixedly connected to the suction cup side plate 4 of the lifting mechanism 101 via the suction cup connecting seat 33.

[0030] In this invention, the suction cup side plate 4 is fixedly connected to both sides of the suction cup top plate 6; the lifting screw connecting plate 5 is fixed to the suction cup side plate 4; the lifting servo motor 7 is fixed to the lifting screw connecting plate 5, and its output shaft is connected to the lifting screw 10; the lifting screw nut 11 is screwed onto the lifting screw 10 and is fixedly connected to the lifting nut drive plate 8; the side plate connecting plate 12 is fixedly connected to the lifting nut drive plate 8 and is connected to the lifting guide rail slider 13; the bottom support connecting plate 9 is fixedly connected to the side plate connecting plate 12.

[0031] In this invention, the lifting guide rail slider 13 is configured to guide the side plate connecting plate 12, the lifting nut drive plate 8 and the bottom support connecting plate 9 to slide in the vertical direction; The lifting servo motor 7 drives the lifting screw 10 to rotate, which is converted into linear motion of the lifting screw nut 11. Then, through the lifting nut drive plate 8, the side plate connecting plate 12 and the bottom support connecting plate 9, the components fixed to the bottom support connecting plate 9 are driven to move up and down.

[0032] Figure 5 This is a schematic diagram of the support mechanism of a suction cup type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention.

[0033] like Figure 5As shown in the figure, an embodiment of the present invention provides a suction cup type handling device for loading cargo into a vehicle. The insert mechanism 102 includes a bottom support drive plate 14, a horizontal servo motor 15, a middle insert drive plate 16, a synchronous pulley 17, a bottom support side plate 18, a synchronous belt 19, an outer insert plate synchronous belt pressure plate 20, a synchronous belt pressure plate 21, a bottom support middle insert plate 22, a horizontal lead screw 23, a bottom support outer insert plate 24, a lead screw support base fixing plate 25, a profile support plate 26, a horizontal lead screw nut 27, a horizontal guide rail slider 28, and a bottom support rear side plate 29.

[0034] In this invention, the horizontal servo motor 15 is fixed to the rear side plate 29 of the base, and its output shaft is connected to one end of the horizontal lead screw 23. The other end of the horizontal lead screw 23 is supported by the lead screw support base fixing plate 25. The horizontal lead screw nut 27 is screwed onto the horizontal lead screw 23 and is fixedly connected to the middle insertion drive plate 16. The base middle insertion plate 22 is fixedly connected to the middle insertion drive plate 16 and is slidably connected to the base side plate 18 through the horizontal guide rail slider 28.

[0035] In this invention, the horizontal servo motor 15 drives the horizontal lead screw 23 to rotate, which is converted into the horizontal linear motion of the horizontal lead screw nut 27 and the middle insertion drive plate 16, thereby driving the bottom support middle insertion plate 22 to slide along the bottom support side plate 18.

[0036] Figure 6 This is a schematic diagram of the doubling mechanism in the insert mechanism of a suction cup type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention.

[0037] like Figure 6 As shown in the embodiment of the present invention, a suction cup type handling device for loading cargo into a vehicle is provided. Each end of the bottom support insert plate 22 is provided with a synchronous pulley 17. A synchronous belt 19 is wound around the two synchronous pulleys 17. One side of the belt is fixedly connected to the bottom support side plate 18 via a synchronous belt pressure plate 21, and the other side is fixedly connected to the bottom support outer insert plate 24 via an outer insert plate synchronous belt pressure plate 20. The bottom support outer insert plate 24 is connected to the profile support plate 26. The insert mechanism 102 is configured such that when the horizontal servo motor 15 drives the bottom support insert plate 22 to move, the transmission between the synchronous pulleys 17 and the synchronous belt 19 causes the bottom support outer insert plate 24 and the profile support plate 26 to move in opposite directions at a double speed.

[0038] In this invention, the horizontal movement of the base support insert plate 22 drives the synchronous pulleys 17 at both ends to rotate, thereby driving the synchronous belt 19 to move. Since one side of the synchronous belt 19 is fixed to the base support side plate 18 and the other side is fixed to the base support outer insert plate 24, the movement of the synchronous belt 19 will drive the base support outer insert plate 24 to move horizontally relative to the base support insert plate 22 and the base support side plate 18, and the direction of movement is opposite to the direction of movement of the base support insert plate 22.

[0039] In this invention, the insert mechanism 102 is configured such that when the horizontal servo motor 15 drives the middle insert plate 22 of the base support to move to one side, the outer insert plate 24 of the base support and the profile support plate 26 move in opposite directions through the transmission of the synchronous wheel 17 and the synchronous belt 19, and the moving speed of the outer insert plate 24 of the base support is twice the moving speed of the middle insert plate 22 of the base support, thereby realizing the double speed extension or retraction of the profile support plate 26.

[0040] Figure 7 This is a schematic diagram of the structure of a single-control suction cup assembly of a suction cup-type handling device for loading cargo into a vehicle, provided in an embodiment of the present invention.

[0041] like Figure 7 As shown in the figure, an embodiment of the present invention provides a suction cup type handling device for loading cargo into a vehicle. The single-control suction cup assembly 103 includes a valve body 30, a suction cup cavity 31, a vacuum nozzle 32, a suction cup connecting seat 33, and a vacuum source connecting port 34.

[0042] In this invention, the suction cup cavity 31 is connected to the suction cup connecting seat 33; a plurality of vacuum nozzles 32 are installed on one side surface of the suction cup cavity 31; a plurality of valve bodies 30 are installed on the other side surface of the suction cup cavity 31 and are connected to the vacuum source connection port 34; each valve body 30 independently controls a corresponding vacuum nozzle 32.

[0043] In this invention, the valve body 30 has a first air hole communicating with the suction cup cavity 31, a second air hole communicating with the corresponding vacuum nozzle 32, and a third air hole communicating with the external atmosphere; the valve body 30 is configured to have two working states: in the first working state, the first air hole and the second air hole communicate to provide suction force; in the second working state, the second air hole and the third air hole communicate to release cargo.

[0044] In this invention, each valve body 30 independently controls a corresponding vacuum nozzle 32; the single-control suction cup assembly 103 is configured to selectively control one or more valve bodies 30 to switch to the first working state according to the shape and position of the target cargo, so that the corresponding one or more vacuum nozzles 32 perform adsorption operations.

[0045] In this invention, a detection sensor is also included, which is used to detect whether the goods have been successfully adsorbed; the detection sensor is a negative pressure gauge, which is used to monitor the negative pressure value in the suction cup cavity 31 or the vacuum pipeline; or, the detection sensor is a proximity switch, which is used to detect the distance between the vacuum nozzle 32 or the insert mechanism 102 and the surface of the goods.

[0046] The present invention also provides a method for transporting goods using a suction cup-type handling device for loading cargo into a vehicle, comprising the following steps: (1) Control the movement of the robotic arm so that the single-control suction cup assembly 103 moves above the goods to be transported; (2) Control the valve body 30 in the single-control suction cup assembly 103 to switch to the first working state, so that the corresponding vacuum nozzle 32 generates suction force; (3) Determine whether the goods have been successfully adsorbed based on the signals from the detection sensors; (4) After confirming that the goods have been successfully adsorbed, control the lifting mechanism 101 to drive the support mechanism 102 to descend to the second position, and then control the support mechanism 102 to drive the profile support plate 26 to extend horizontally to the bottom of the goods to lift the goods. (5) Control the robotic arm to transport goods that have been adsorbed and lifted; (6) After reaching the target position, control the valve body 30 to switch to the second working state to release the goods, then control the insert mechanism 102 to drive the profile pallet 26 to retract horizontally, and control the lifting mechanism 101 to drive the insert mechanism 102 to rise to the first position.

[0047] In this invention, in step (2), one or more valve bodies 30 are selectively opened according to the shape, size or position information of the goods to be transported; in step (3), the detection sensor is a negative pressure gauge, and determining whether the goods are successfully adsorbed includes: monitoring the negative pressure value introduced by the vacuum source connection port 34, and if the negative pressure value reaches or exceeds a preset threshold, it is determined that the adsorption is successful; in step (4), the lifting servo motor 7 of the lifting mechanism 101 is started to drive the support mechanism 102 to descend; after receiving the arrival signal fed back by the lifting servo motor 7, the horizontal servo motor 15 of the support mechanism 102 is started to drive the profile support plate 26 to extend; in step (5), it also includes: a second judgment step, continuously or intermittently judging whether the goods are loose or have a risk of falling during the transport process based on the signal of the detection sensor; a safety response step, if it is judged that there is a risk in the second judgment step, an alarm is triggered and / or the transport action is suspended.

[0048] Example 1 like Figures 1 to 7As shown, this embodiment provides a suction cup type handling device for loading cargo into a vehicle, which mainly includes a lifting mechanism 101, a support mechanism 102, and a single-control suction cup assembly 103.

[0049] The lifting mechanism 101 constitutes the installation frame and core lifting drive part of the entire device. It is fixedly connected to the end of a robotic arm (not shown in the figure) via a top flange 3, allowing it to move spatially by the robotic arm. A suction cup top plate 6 is fixedly connected to the flange 3, and two suction cup side plates 4 are fixed to both sides of the suction cup top plate 6. A lifting screw connecting plate 5 is fixed to the suction cup side plates 4, and a lifting servo motor 7 is fixed to the lifting screw connecting plate 5. The output shaft of the lifting servo motor 7 is connected to the lifting screw 10 to drive its rotation. A lifting screw nut 11 is screwed onto the lifting screw 10 and fixedly connected to a lifting nut drive plate 8. A side plate connecting plate 12 is fixedly connected to the lifting nut drive plate 8 and cooperates with the lifting guide rail slider 13, thus being guided to slide smoothly in the vertical direction. A base support connecting plate 9 is fixedly connected to the side plate connecting plate 12.

[0050] The single-control suction cup assembly 103 is fixedly connected to the suction cup side plate 4 of the lifting mechanism 101 via its suction cup connecting seat 33, thereby suspending it at the lower part of the device. The single-control suction cup assembly 103 includes a suction cup cavity 31, on which multiple vacuum nozzles 32 are fixedly installed by threads or other means on its lower surface (i.e., the side facing the goods). On its upper surface, there are valve bodies 30 in the same number as the vacuum nozzles 32, and each valve body 30 independently controls a corresponding vacuum nozzle 32 through an internal air passage. The suction cup cavity 31 is connected to an external vacuum source (such as a vacuum pump) through a vacuum source connection port 34. Each valve body 30 has three air holes: the first air hole communicates with the internal cavity of the suction cup cavity 31; the second air hole communicates with the corresponding vacuum nozzle 32; and the third air hole communicates with the external atmosphere. The valve body 30 can switch between two operating states: in the first operating state, the first and second air holes are connected, and the third air hole is closed, thereby providing suction force to the vacuum nozzle 32; in the second operating state, the second and third air holes are connected, and the first air hole is closed, thereby allowing the vacuum nozzle 32 to communicate with the atmosphere to release the cargo. This design allows the device to selectively open part of the nozzle for suction based on the shape and position of the target cargo, adapting to irregular surfaces.

[0051] The insert mechanism 102 is fixedly connected to the base support connecting plate 9 of the lifting mechanism 101 via the base support drive plates 14 on both sides. Therefore, when the lifting servo motor 7 drives the lifting screw 10 to rotate, the lifting motion is transmitted to the insert mechanism 102 through the lifting screw nut 11, the lifting nut drive plate 8, the side plate connecting plate 12 and the base support connecting plate 9, driving the entire mechanism to move up and down relative to the fixed single-control suction cup assembly 103.

[0052] The support mechanism 102 has a horizontal telescopic function for lifting goods from the bottom. Its frame consists of two bottom support side plates 18. A horizontal servo motor 15 is fixed to the rear side plate 29 of the bottom support, and its output shaft drives the horizontal lead screw 23 to rotate. The other end of the horizontal lead screw 23 is supported by the lead screw support base fixing plate 25. The horizontal lead screw nut 27 is screwed onto the horizontal lead screw 23 and is fixedly connected to the middle insertion drive plate 16. The bottom support middle insertion plate 22 is fixedly connected to the middle insertion drive plate 16 and forms a sliding pair with the bottom support side plates 18 through the horizontal guide rail slider 28. Therefore, the rotational motion of the horizontal servo motor 15 can be converted into the horizontal linear motion of the bottom support middle insertion plate 22 along the bottom support side plate 18.

[0053] To achieve long-stroke lifting within a compact structure, this embodiment employs an innovative speed-multiplying transmission mechanism. A synchronous pulley 17 is installed at each end of the bottom support insert plate 22, and a synchronous belt 19 is wound around the two pulleys 17. One side of the synchronous belt 19 is fixed to the bottom support side plate 18 via a synchronous belt pressure plate 21, and the other side is fixed to the bottom support outer insert plate 24 via an outer insert plate synchronous belt pressure plate 20. The bottom support outer insert plate 24 is connected to a profile pallet 26 for directly supporting goods. When the horizontal servo motor 15 drives the bottom support insert plate 22 to move horizontally, it drives the synchronous pulleys 17 at both ends to rotate. Since one side of the synchronous belt 19 is fixed (to the bottom support side plate 18), and the other side is connected to the bottom support outer insert plate 24, the rotation of the synchronous pulleys 17 drives the synchronous belt 19 to move, thereby causing the bottom support outer insert plate 24 and the profile pallet 26 to move in opposite directions relative to the bottom support insert plate 22. Through ingenious transmission design, the moving speed of the outer insert plate 24 of the base support can reach twice the moving speed of the middle insert plate 22 of the base support, thereby realizing the double-speed extension or retraction of the profile support plate 26, effectively increasing the lifting range while maintaining the compactness of the mechanism.

[0054] To ensure the safety and reliability of the handling process, the device also includes detection sensors (not shown separately in the figure). These sensors can be negative pressure gauges to monitor the negative pressure value in the suction cup cavity 31 or vacuum tubing to determine the strength of the suction; or they can be proximity switches to detect the distance between the vacuum nozzle 32 or the support mechanism 102 and the surface of the goods to monitor for any risk of loosening or falling during handling. The detection signals are connected to the control system for process control and safety warnings.

[0055] Example 2 This embodiment provides a method for handling goods using the suction cup-type handling device for loading cargo in a truck bed as described in Embodiment 1. This method is particularly suitable for handling cardboard boxes of varying sizes and irregular stacking within a truck bed, and includes the following steps: (1) The control system (which can be integrated into the robotic arm controller) controls the movement of the robotic arm according to the instructions or feedback from the vision system, thereby moving the entire handling device and moving the vacuum nozzle 32 array of the single-control suction cup assembly 103 above the goods to be handled (such as cartons).

[0056] (2) Based on the estimated or detected shape, size and position information of the target cargo, the control system selectively controls one or more valve bodies 30 at corresponding positions in the single-control suction cup assembly 103 to switch to the first working state. The negative pressure generated by the vacuum source is transmitted to the corresponding vacuum nozzle 32 through the suction cup cavity 31 and the opened valve body 30, thereby generating an adsorption force on the surface of the cargo.

[0057] (3) The sensor (such as a negative pressure gauge) monitors the negative pressure of the system in real time. When the negative pressure value reaches or exceeds the preset threshold (indicating that the adsorption is firm), the sensor sends a success signal. If a proximity switch is used, confirmation is made when the distance signal reaches a stable range after the suction nozzle adheres to the goods.

[0058] (4) After confirming successful adsorption, the control system first starts the lifting servo motor 7 of the lifting mechanism 101 to drive the entire support mechanism 102 to descend until its profile support plate 26 is slightly lower than the bottom of the goods (second position). Then, the horizontal servo motor 15 of the support mechanism 102 is started to drive the bottom support plate 22 to move. Through the speed double transmission of the synchronous wheel 17 and the synchronous belt 19, the profile support plate 26 is quickly and smoothly extended horizontally to the bottom of the goods, completing the bottom support of the goods and forming a double guarantee of "upper suction and lower support".

[0059] (5) The robotic arm transports goods along a preset path. During transport, the detection sensors (especially proximity switches) work continuously or intermittently to monitor the status of the goods. Once an abnormal signal is detected (such as a sudden increase in distance, indicating that the goods may be loose), the control system immediately triggers an audible and visual alarm and can automatically pause the robotic arm's movement, waiting for manual intervention to prevent the goods from falling and being damaged.

[0060] (6) After the robotic arm moves the goods to the target position (such as above the conveyor belt), the control system controls all working valves 30 to switch to the second working state, allowing the vacuum nozzle 32 to vent to the atmosphere and release the goods. Then, the horizontal servo motor 15 is controlled to reverse, driving the profile pallet 26 to retract horizontally. Finally, the lifting servo motor 7 is controlled to reverse, driving the insert mechanism 102 to rise until it is completely retracted under the single-control suction cup assembly 103, and the device returns to its initial state, ready for the next operation.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A suction cup-type handling device for loading cargo into a vehicle, characterized in that, It includes a lifting mechanism (101), a support mechanism (102), and a single-control suction cup assembly (103). The lifting mechanism (101) is used to connect to the end of the robotic arm and can drive the insert mechanism (102) to move up and down relative to the single-control suction cup assembly (103); The single-control suction cup assembly (103) is fixedly connected to the lifting mechanism (101) and is used to adsorb goods; The inserting mechanism (102) is driven to be connected to the lifting mechanism (101) and can be driven to rise and fall. The inserting mechanism (102) itself has a horizontal telescopic function for lifting or releasing goods from the bottom.

2. The suction cup-type handling device for loading cargo into a vehicle according to claim 1, characterized in that, The lifting mechanism (101) includes a flange (3), a suction cup side plate (4), a lifting screw connecting plate (5), a suction cup top plate (6), a lifting servo motor (7), a lifting nut drive plate (8), a bottom support connecting plate (9), a lifting screw (10), a lifting screw nut (11), a side plate connecting plate (12), and a lifting guide rail slider (13). The insert mechanism (102) includes a bottom support drive plate (14), a horizontal servo motor (15), a middle insert drive plate (16), a synchronous pulley (17), a bottom support side plate (18), a synchronous belt (19), an outer insert plate synchronous belt pressure plate (20), a synchronous belt pressure plate (21), a bottom support middle insert plate (22), a horizontal lead screw (23), a bottom support outer insert plate (24), a lead screw support base fixing plate (25), a profile support plate (26), a horizontal lead screw nut (27), a horizontal guide rail slider (28), and a bottom support rear side plate (29). The single-control suction cup assembly (103) includes a valve body (30), a suction cup cavity (31), a vacuum nozzle (32), a suction cup connector (33), and a vacuum source connector (34).

3. The suction cup-type handling device for loading cargo into a vehicle according to claim 2, characterized in that, The lifting mechanism (101) is connected to the end of the robotic arm via the flange (3); The insert mechanism (102) is fixedly connected to the bottom support connecting plate (9) of the lifting mechanism (101) via the bottom support drive plate (14); The single-control suction cup assembly (103) is fixedly connected to the suction cup side plate (4) of the lifting mechanism (101) via the suction cup connecting seat (33).

4. The suction cup-type handling device for loading cargo into a vehicle according to claim 3, characterized in that, The suction cup side plate (4) is fixedly connected to both sides of the suction cup top plate (6); The lifting screw connecting plate (5) is fixed on the suction cup side plate (4); The lifting servo motor (7) is fixed on the lifting screw connecting plate (5), and its output shaft is connected to the lifting screw (10); The lifting screw nut (11) is screwed onto the lifting screw (10) and is fixedly connected to the lifting nut drive plate (8); The side plate connecting plate (12) is fixedly connected to the lifting nut drive plate (8) and connected to the lifting guide rail slider (13); The bottom support connecting plate (9) is fixedly connected to the side plate connecting plate (12).

5. The suction cup-type handling device for loading cargo into a vehicle according to claim 3, characterized in that, The horizontal servo motor (15) is fixed on the rear side plate (29) of the base, and its output shaft is connected to one end of the horizontal lead screw (23). The other end of the horizontal lead screw (23) is supported by the lead screw support base fixing plate (25). The horizontal lead screw nut (27) is screwed onto the horizontal lead screw (23) and is fixedly connected to the middle insertion drive plate (16); The bottom support center plate (22) is fixedly connected to the center drive plate (16), and is slidably connected to the bottom support side plate (18) through the horizontal guide rail slider (28).

6. The suction cup type handling device for loading cargo into a vehicle according to claim 5, characterized in that, The bottom support plate (22) has a synchronous wheel (17) at each end; The timing belt (19) is wound around the two timing pulleys (17). One side of the belt is fixedly connected to the bottom support side plate (18) through the timing belt pressure plate (21), and the other side is fixedly connected to the bottom support outer plate (24) through the outer plate timing belt pressure plate (20). The bottom support outer plate (24) is connected to the profile support plate (26); The insert mechanism (102) is configured such that when the horizontal servo motor (15) drives the middle insert plate (22) of the base to move, the outer insert plate (24) of the base and the profile plate (26) move in the opposite direction at double speed through the transmission of the synchronous wheel (17) and the synchronous belt (19).

7. The suction cup-type handling device for loading cargo into a vehicle according to claim 3, characterized in that, The suction cup cavity (31) is connected to the suction cup connecting seat (33); Multiple vacuum nozzles (32) are mounted on one side surface of the suction cup cavity (31); Multiple valve bodies (30) are mounted on the other side surface of the suction cup cavity (31) and are connected to the vacuum source connection port (34); Each valve body (30) independently controls a corresponding vacuum nozzle (32).

8. The suction cup-type handling device for loading cargo into a wagon according to claim 7, characterized in that, The valve body (30) has a first air hole communicating with the suction cup cavity (31), a second air hole communicating with the corresponding vacuum nozzle (32), and a third air hole communicating with the outside atmosphere; The valve body (30) is configured to have two operating states: in the first operating state, the first vent is connected to the second vent to provide adsorption force; in the second operating state, the second vent is connected to the third vent to release cargo.

9. The suction cup type handling device for loading cargo into a wagon according to any one of claims 1-8, characterized in that, It also includes a detection sensor used to detect whether the cargo has been successfully adsorbed.

10. A method for handling goods using the suction cup-type handling device for loading cargo into a wagon as described in claim 9, characterized in that, Includes the following steps: (1) Control the movement of the robotic arm so that the single-control suction cup assembly (103) moves above the goods to be transported; (2) Control the valve body (30) in the single-control suction cup assembly (103) to switch to the first working state, so that the corresponding vacuum nozzle (32) generates suction force; (3) Determine whether the goods have been successfully adsorbed based on the signals from the detection sensors; (4) After confirming that the goods have been successfully adsorbed, control the lifting mechanism (101) to drive the support mechanism (102) to descend to the second position, and then control the support mechanism (102) to drive the profile pallet (26) to extend horizontally to the bottom of the goods to lift the goods. (5) Control the robotic arm to transport goods that have been adsorbed and lifted; (6) After reaching the target position, control the valve body (30) to switch to the second working state to release the goods, then control the insert mechanism (102) to drive the profile pallet (26) to retract horizontally, and control the lifting mechanism (101) to drive the insert mechanism (102) to rise to the first position.

Images