Gripper for sucking cartons

Abstract

The utility model discloses a gripper for sucking a carton. The gripper comprises a robot quick-change assembly and a vacuum suction cup assembly. The robot quick-change assembly comprises a quick-change part and a fixing part connected with the quick-change part, and the quick-change part is connected with the robot male head; the vacuum suction cup assembly comprises a suction cup body and a vacuum control assembly connected with the suction cup body, a guide shaft is arranged on the suction cup body, the other end of the guide shaft penetrates through a flange plate, the flange plate is connected with the fixing part, the guide shaft is sleeved with a spring located between the flange plate and the suction cup body, and the vacuum control assembly is connected with the suction cup body. When the flange plate gets close to the direction of the suction cup body along the guide shaft under the action of external force, the spring is compressed. The robot clamp is reasonable in structural design, connection with a robot male head is achieved through the robot quick-change assembly, and free switching of various clamps of a robot is achieved; carton products are sucked through the vacuum suction cup assembly.

Description

Technical Field

[0001] The present application relates to the technical field of transporting materials, and in particular to a gripper for sucking cartons. Background Art

[0002] Currently, many fields require automated systems to handle items, especially in the packaging and logistics industries, where grabbing and moving cartons is one of the common tasks in these systems. For example, when a warehouse receives products packaged in cartons from a supplier, multiple workers place the cartons on the conveyor line; manual labor frequently bends over and carries heavy loads, is physically demanding and easily fatigued, resulting in a low happiness index and a high employee turnover rate. Utility Model Content

[0003] In view of the above problems, the purpose of the embodiments of the present application is to provide a gripper for sucking cartons to solve the problem of high labor intensity in manual handling of goods.

[0004] The purpose of the embodiment of the present application is to provide a gripper for sucking cartons, including a robot quick-change assembly and a vacuum suction cup assembly;

[0005] The robot quick-change assembly includes a quick-change part and a fixing part connected to the quick-change part, and the quick-change part is connected to the robot male head;

[0006] The vacuum suction cup assembly includes a suction cup body and a vacuum control assembly connected to the suction cup body, the suction cup body is provided with a guide shaft, the other end of the guide shaft passes through a flange plate, the flange plate is connected to the fixing portion, a spring is sleeved on the guide shaft and is located between the flange plate and the suction cup body, so that the spring is compressed when the flange plate approaches the suction cup body along the guide shaft under the action of an external force, and a limit assembly is also provided on the suction cup body for limiting the range of movement of the flange plate along the guide shaft.

[0007] As an optional embodiment, the quick-change unit includes:

[0008] Quick-change female connector, used to connect with the robot male connector;

[0009] A pneumatic component connected to the quick-change female head and used to drive the quick-change female head to move;

[0010] The air distribution joint is connected to the pneumatic element and the air source respectively, and is used to drive the pneumatic element to move.

[0011] As an optional embodiment, the fixing portion includes:

[0012] A quick-change fixing plate connected to the quick-change female connector and the gas distribution connector;

[0013] Quick-change vertical plates, which are respectively arranged at both ends of the quick-change fixed plate;

[0014] A positioning column is provided at one end of the quick-change fixing plate and is located outside the quick-change vertical plate, and is used to determine the assembly position of the fixing part and the robot.

[0015] As an optional embodiment, a first mounting hole is provided on the outer wall of the quick-change female connector, and is connected to one end of the gas distribution connector;

[0016] The quick-change fixing plate is provided with a second mounting hole, and the second mounting hole is connected to the other end of the gas distribution joint.

[0017] As an optional embodiment, assembly grooves are respectively provided on two opposite sides of the flange plate, and the quick-change vertical plate is connected to the assembly grooves.

[0018] As an optional embodiment, the vacuum control component includes:

[0019] A vacuum generator, which is arranged on one side of the suction cup body;

[0020] A vacuum control valve is arranged on the other side of the suction cup body and is connected to the vacuum generator through a pipeline, and the vacuum control valve is connected to the suction cup body;

[0021] A vacuum gauge is arranged on the suction cup body and is connected to the vacuum control valve through a pipeline.

[0022] As an optional embodiment, the limiting component includes:

[0023] A first sensor, which is disposed on one side of the suction cup body and is used to detect the lowest position of the flange plate moving along the guide shaft;

[0024] The second sensor is arranged at the other side of the suction cup body and is used to detect the highest position of the flange plate moving along the guide shaft.

[0025] As an optional embodiment, a through hole is provided on the flange plate, the guide shaft is provided in the through hole, a guide sleeve is provided on a side of the flange plate away from the through hole, and the guide sleeve is sleeved on the guide shaft.

[0026] The beneficial effects of the embodiments of the present application are:

[0027] The structural design of this application is reasonable. It is connected to the robot male head through the robot quick-change assembly to achieve free switching of various robot fixtures. The suction of carton products is achieved through the vacuum suction cup assembly. The compression position is adjusted according to the specific working conditions. The negative pressure of carton suction can reach above -30KPa. It has a material absence detection function when sucking cartons, and real-time feedback of the current status to achieve the functions of sucking cartons, backblowing cartons, and detecting the presence or absence of cartons, thereby ensuring the effects of rapid installation, efficient grasping and precise control. It is suitable for warehousing, logistics, food manufacturing, automotive parts manufacturing and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram (structural explosion diagram) of an embodiment of the present application;

[0029] Figure 2 It is a structural schematic diagram (assembly diagram) of an embodiment of the present application;

[0030] Figure 3 This is a schematic diagram of the structure of a robot quick-change assembly according to an embodiment of the present application;

[0031] Figure 4 This is a schematic structural diagram of a vacuum suction cup assembly according to an embodiment of the present application.

[0032] Reference numerals:

[0033] 1. Quick-change female connector; 2. Air distribution connector; 3. Quick-change fixing plate; 4. Quick-change vertical plate; 5. Positioning column; 6. Suction cup body; 7. Vacuum generator; 8. Vacuum control valve; 9. Vacuum gauge; 10. Guide shaft; 11. Flange plate; 12. Guide sleeve; 13. Spring; 14. First sensor; 15. Second sensor. DETAILED DESCRIPTION

[0034] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0035] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present application will occur to those skilled in the art.

[0036] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0037] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0038] It should also be understood that although the present application has been described with reference to some specific examples, those skilled in the art will be able to readily implement many other equivalent forms of the present application.

[0039] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0040] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that obscure the present application. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0041] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0042] The present application embodiment provides a gripper for sucking a carton, and the gripper is applied to a robot, such as Figure 1 and Figure 2 As shown, the gripper includes a robot quick-change assembly and a vacuum suction cup assembly. The robot quick-change assembly is connected to the robot male head, and the vacuum suction cup assembly realizes functions such as sucking cartons, back-blowing cartons, and detecting whether there are cartons.

[0043] like Figure 3 As shown, the robot quick-change assembly includes a quick-change part and a fixed part connected to the quick-change part, and the quick-change part is connected to the male head of the robot. The quick-change part is designed to be connected to the male head of the robot to ensure that the gripper can be quickly and stably installed on the robot arm. The fixed part is connected to the quick-change part to provide a stable support structure for the gripper.

[0044] As an optional embodiment, the quick-change part includes a quick-change female head 1, a pneumatic component and an air splitter 2. The quick-change female head 1 is used to connect with the male head of the robot, and the pneumatic component is connected to the quick-change female head 1 to drive the quick-change female head 1 to move. The air splitter 2 is connected to the pneumatic component and the air source respectively to drive the pneumatic component to move. Among them, the air source is the air source system of the robot.

[0045] Specifically, the quick-change female head 1 is directly connected to the male head of the robot, and the pneumatic component is connected to the quick-change female head 1 to drive the action of the quick-change female head 1 to achieve rapid replacement of the gripper. The air distribution connector 2 connects the pneumatic component and the air source to provide power for the pneumatic component.

[0046] As an optional embodiment, Figure 3 As shown, the fixing part includes a quick-change fixing plate 3, a quick-change vertical plate 4 and a positioning column 5.

[0047] The quick-change fixing plate 3 is connected to the quick-change female connector 1 and the air distribution connector 2, and the quick-change vertical plate 4 is respectively arranged at both ends of the quick-change fixing plate 3. The positioning column 5 is arranged at one end of the quick-change fixing plate 3 and is located on the outside of the quick-change vertical plate 4, and is used to determine the assembly position of the fixing part and the robot. Among them, the positioning column 5 is used for precise positioning with the placement frame guide sleeve on the robot.

[0048] Specifically, the quick-change fixing plate 3 is the connection center, connected to the quick-change female connector 1 and the air distributor 2. The quick-change vertical plates 4 are arranged at both ends of the quick-change fixing plate 3 to provide additional support. The positioning column 5 is located outside one end of the quick-change fixing plate 3 to ensure the correct position of the gripper on the robot.

[0049] As an optional embodiment, a first mounting hole is opened on the outer wall of the quick-change female connector 1, which is connected to one end of the air distribution connector 2; a second mounting hole is opened on the quick-change fixing plate 3, and the second mounting hole is connected to the other end of the air distribution connector 2, so as to ensure that the connection position between the air distribution connector 2, the quick-change female connector 1 and the air source is accurate.

[0050] like Figure 4 As shown, the vacuum suction cup assembly includes a suction cup body 6 and a vacuum control assembly connected to the suction cup body 6, wherein the suction cup body 6 is responsible for contacting with the carton and achieving adsorption, while the vacuum control assembly controls the adsorption force and release operation of the suction cup.

[0051] A guide shaft 10 is provided on the suction cup body 6, and the other end of the guide shaft 10 passes through a flange plate 11, and the flange plate 11 is connected to the fixing portion. A spring 13 is sleeved on the guide shaft 10 and is located between the flange plate 11 and the suction cup body 6, so that the spring 13 is compressed when the flange plate 11 approaches the suction cup body 6 along the guide shaft 10 under the action of an external force. A limiting component is also provided on the suction cup body 6 for limiting the range of movement of the flange plate 11 along the guide shaft 10 to ensure the stability and safety of the adsorption process.

[0052] Specifically, driven by the robot and obstructed by the carton, the flange plate 11 can move between the suction cup body 6 and the fixed part. The spring 13 and the guide shaft 10 enable the flange plate 11 to move toward the suction cup body 6 when subjected to external force, thereby adjusting the adsorption force to achieve the grasping and releasing of the carton.

[0053] As an optional embodiment, assembly grooves are respectively provided on opposite sides of the flange plate 11, and the quick-change vertical plate 4 is connected to the assembly grooves, thereby ensuring the connection position of the robot quick-change assembly and the vacuum suction cup assembly.

[0054] As an optional embodiment, the vacuum control component includes a vacuum generator 7, a vacuum control valve 8 and a vacuum gauge 9.

[0055] The vacuum generator 7 is arranged on one side of the suction cup body 6, and the vacuum control valve 8 is arranged on the other side of the suction cup body 6 and connected to the vacuum generator 7 through a pipeline, and the vacuum control valve 8 is connected to the suction cup body 6. The vacuum gauge 9 is arranged on the suction cup body 6 and connected to the vacuum control valve 8 through a pipeline.

[0056] Specifically, the vacuum generator 7 is provided on the suction cup body 6, and is used to generate vacuum to realize the adsorption function of the suction cup body 6. The vacuum control valve 8 is provided on the suction cup body 6, and is connected to the vacuum generator 7 through a pipeline, and is used to control the opening and closing of the vacuum. The vacuum meter 9 is provided on the suction cup body 6, and is connected to the vacuum control valve 8, and is used to monitor the vacuum state to ensure the accuracy of the adsorption force.

[0057] The vacuum generator 7 realizes the generation of continuous negative pressure, and the vacuum control valve 8 realizes the switching of vacuum and back-blowing functions. The first sensor 14 and the second sensor 15 realize the detection of the compression position, and the vacuum meter 9 realizes the real-time display of the vacuum value and the preset threshold detection.

[0058] When the suction cup body 6 is adsorbed on the carton, the vacuum meter 9 will show a relatively high vacuum degree due to the presence of the carton. If there is no carton adsorption, the vacuum degree will drop rapidly because air will enter the suction cup body 6 to fill the space.

[0059] The vacuum control valve 8 can automatically or manually adjust the vacuum strength according to the reading of the vacuum meter 9. When it is detected that the vacuum degree drops (that is, there is no carton adsorption), the vacuum control valve 8 can be quickly closed to stop the vacuum generator 7, thereby saving energy and reducing unnecessary wear.

[0060] When the vacuum meter 9 detects that the vacuum degree has dropped, the vacuum generator 7 can determine whether it is necessary to regenerate the vacuum through the feedback signal of the vacuum control valve 8. If the suction cup body 6 has been adsorbed on the carton, the vacuum generator 7 will continue to work to maintain the required vacuum degree; if the suction cup body 6 has not adsorbed the carton, the vacuum generator 7 can suspend work until the signal requiring adsorption is detected again.

[0061] Combined with the robot's control system, the present application can realize automatic control through programming logic. For example, when the vacuum meter 9 detects that the vacuum degree is lower than the preset threshold, the control system will send a signal to the vacuum generator 7 and the vacuum control valve 8 to adjust their working status. At the same time, the control system can also send a signal to the robot to instruct it to perform the next operation, such as re-sucking the carton or performing other tasks.

[0062] Through the coordinated work of the vacuum gauge 9, the control valve and the vacuum generator 7 in the vacuum suction cup assembly, the function of detecting the presence or absence of cartons can be effectively realized, thereby improving the accuracy and efficiency of the automated grasping process.

[0063] As an optional embodiment, the limit assembly includes a first sensor 14 and a second sensor 15. The first sensor 14 is provided on one side of the suction cup body 6, and is used to detect the lowest position of the flange plate 11 moving along the guide shaft 10. The second sensor 15 is provided on the other side of the suction cup body 6, and is used to detect the highest position of the flange plate 11 moving along the guide shaft 10.

[0064] When in use, the second sensor 15 usually corresponds to the state that the flange plate 11 does not move, that is, when the second sensor 15 does not detect the flange plate 11, it means that the flange plate 11 begins to move. When the first sensor 14 detects the flange plate 11, it means that the suction cup body 6 is pressed on the carton and the vacuum generator 7 can be started to suck the carton through the suction cup body 6.

[0065] When there is no carton under the suction cup body 6, the robot quick-change assembly moves downward with the robot, and the flange plate 11 will not move downward along the guide shaft 10 to compress the spring 13. The spring 13 resets the flange plate 11. At this time, the second sensor 15 can detect the flange plate 11, indicating that the spring 13 can be used normally.

[0066] As an optional embodiment, a through hole is provided on the flange plate 11, the guide shaft 10 is provided in the through hole, a guide sleeve 12 is provided on the side of the flange plate 11 away from the through hole, and the guide sleeve 12 is sleeved on the guide shaft 10. The guide sleeve 12 limits the movement of the flange plate 11 along the guide shaft 10 to ensure that the flange plate 11 is balanced at all locations during movement.

[0067] When in use, the robot first grabs the gripper, that is, the quick-change female head 1 of the quick-change part is connected to the male head of the robot, and the gripper can be quickly replaced through the pneumatic components and the air distribution joint 2, and the correct installation of the gripper is ensured by the positioning column 5.

[0068] Next, the robot drives the gripper to move downward. When the suction cup body 6 is blocked by the carton below it, the robot continues to drive the gripper to move downward. At this time, the robot quick-change assembly drives the flange plate 11 to continue to move downward along the guide shaft 10, thereby compressing the spring 13, so that the suction cup body 6 fits the surface of the carton. During the compression process of the spring 13, the second sensor 15 can detect the beginning of the compression process, and when the first sensor 14 detects that the flange plate 11 moves to the lowest position, that is, the suction cup body 6 is in an effectively connected state with the carton, the vacuum generator 7 is started to suck the carton through the suction cup body 6.

[0069] Then, driven by the robot, the gripper moves the carton and places it on the receiving conveyor line, and by turning off the vacuum generator 7, the carton falls off the suction cup body 6. Finally, the robot takes the gripper to suck the carton again and places it, and the cycle continues.

[0070] Therefore, when used, the present application replaces frequent manual handling, improves manual work efficiency, and improves manual happiness index. Moreover, the vacuum control component can accurately control the suction force to adapt to cartons of different sizes and weights. That is, the gripper of the present application can suck at least the following types of cartons:

[0071] 1. Compatible with cartons of 200mm*200mm--600mm*400mm size;

[0072] 2. Compatible with the height difference range of the carton surface (±10mm);

[0073] 3. Compatible with various fixed forms of cartons (paper tape, packing tape, transparent tape, etc.).

[0074] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A gripper for sucking a carton, characterized in that: Including robot quick change assembly and vacuum suction cup assembly; The robot quick-change assembly comprises a quick-change part and a fixing part connected to the quick-change part, and the quick-change part is connected to the male head of the robot; The vacuum suction cup assembly includes a suction cup body and a vacuum control assembly connected to the suction cup body, the suction cup body is provided with a guide shaft, the other end of the guide shaft passes through a flange plate, the flange plate is connected to the fixing portion, a spring is sleeved on the guide shaft and is located between the flange plate and the suction cup body, so that the spring is compressed when the flange plate approaches the suction cup body along the guide shaft under the action of an external force, and a limit assembly is also provided on the suction cup body for limiting the range of movement of the flange plate along the guide shaft.

2. A gripper for sucking a carton as claimed in claim 1, characterized in that: The quick-change unit comprises: Quick-change female connector, used to connect with the robot male connector; A pneumatic component connected to the quick-change female head and used to drive the quick-change female head to move; The air distribution joint is connected to the pneumatic element and the air source respectively, and is used to drive the pneumatic element to move.

3. A gripper for sucking a carton as claimed in claim 2, characterized in that: The fixing portion comprises: A quick-change fixing plate connected to the quick-change female connector and the gas distribution connector; Quick-change vertical plates, which are respectively arranged at both ends of the quick-change fixed plate; A positioning column is provided at one end of the quick-change fixing plate and is located outside the quick-change vertical plate, and is used to determine the assembly position of the fixing part and the robot.

4. A gripper for sucking a carton as claimed in claim 3, characterized in that: A first mounting hole is provided on the outer wall of the quick-change female connector, which is connected to one end of the gas distribution connector; The quick-change fixing plate is provided with a second mounting hole, and the second mounting hole is connected to the other end of the gas distribution joint.

5. A gripper for sucking a carton as claimed in claim 3, characterized in that: Mounting grooves are respectively provided on opposite sides of the flange plate, and the quick-change vertical plates are connected to the mounting grooves.

6. A gripper for sucking a carton as claimed in claim 1, characterized in that: The vacuum control assembly comprises: A vacuum generator, which is arranged on one side of the suction cup body; A vacuum control valve is arranged on the other side of the suction cup body and is connected to the vacuum generator through a pipeline, and the vacuum control valve is connected to the suction cup body; A vacuum gauge is arranged on the suction cup body and is connected to the vacuum control valve through a pipeline.

7. A gripper for sucking a carton as claimed in claim 1, characterized in that: The limiting component comprises: A first sensor, which is disposed on one side of the suction cup body and is used to detect the lowest position of the flange plate moving along the guide shaft; The second sensor is arranged at the other side of the suction cup body and is used to detect the highest position of the flange plate moving along the guide shaft.

8. A gripper for sucking a carton as claimed in claim 1, characterized in that: A through hole is provided on the flange plate, the guide shaft is arranged in the through hole, a guide sleeve is provided on a side of the flange plate away from the through hole, and the guide sleeve is sleeved on the guide shaft.

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