Coded disc gripping apparatus

Abstract

The utility model belongs to the technical field of logistics equipment, and particularly relates to a coded disc gripping apparatus which comprises a suction cup assembly, an adjusting module and a control module. The suction cup assembly comprises a plurality of suction cup grippers which are arranged in parallel; the suction cup grabbing tool is connected with an external air compressor through a pipeline, forms a vacuum degree and is used for grabbing goods. The adjusting module is connected with the upper ends of the plurality of sucker grippers, is electrically connected with the control module through a cable, and is used for adjusting the distance between the plurality of sucker grippers; the control module is in information communication with a logistics storage dispatching center in a wireless mode and used for receiving the goods information sent by the dispatching center and sending an adjusting instruction to the adjusting module. The utility model aims to solve the problem of low working efficiency caused by the fact that a suction cup gripping apparatus can only grip one piece of goods each time for goods of different sizes and specifications.

Description

Technical Field

[0001] The utility model belongs to the technical field of logistics equipment, and particularly relates to a code tray gripper. Background Art

[0002] With the continuous development and popularization of automation and intelligence in industrial manufacturing and logistics, more and more factories and logistics centers choose to use intelligent robots to work, which not only saves costs but also improves efficiency. Among them, in modern logistics and transshipment centers, intelligent pallet robots are widely used, and are often combined with flexible grippers for intelligent grasping and stacking of goods. Flexible grippers usually adopt a suction cup gripper structure, which can avoid the problem of damage to goods due to excessive grasping force during the grasping process.

[0003] However, the weight and size of goods are different. The same suction cup gripper can only grab one item at a time. For a large number of small-sized goods, only one item can be grabbed at a time, resulting in low work efficiency.

[0004] Therefore, a gripper with multiple suction cups is needed, which can change the suction cup spacing according to goods of different sizes and specifications so as to grab multiple goods each time, thereby avoiding the problem of low work efficiency caused by the suction cup gripper only being able to grab one item at a time for goods of different sizes and specifications. Utility Model Content

[0005] Therefore, the utility model provides a code plate gripper, which adopts a plurality of groups of vacuum suction cups, and the spacing between each group of suction cups can be adjusted to adapt to the grasping of goods of different sizes and specifications. It aims to solve the problem that for goods of different sizes and specifications, the suction cup gripper can only grasp one item at a time, resulting in low work efficiency. The specific contents of the utility model are as follows.

[0006] A code disc gripper, comprising a suction cup assembly, an adjustment module and a control module;

[0007] The suction cup assembly includes a plurality of suction cup grippers arranged in parallel; the suction cup grippers are connected to an external air compressor through a pipeline and form a vacuum to grab the goods;

[0008] The adjustment module is connected to the upper ends of the plurality of suction cup grippers and is electrically connected to the control module via a cable, and is used to adjust the spacing between the plurality of suction cup grippers;

[0009] The control module communicates with the logistics warehousing dispatching center wirelessly to receive the product information sent by the dispatching center and send adjustment instructions to the adjustment module.

[0010] In an embodiment provided by the utility model, the adjustment module includes a supporting part, the upper end of the supporting part is connected to the code disk robot arm through an adapter, and the lower end thereof is provided with connecting parts with the same number as the suction cup gripper; the upper end of the connecting part is connected to the supporting part through a track, and the lower end thereof is fixedly connected to the suction cup gripper.

[0011] In an implementation manner provided by the utility model, a rotating part is arranged inside the adapter; the supporting part can rotate around the axis of the rotating part; and a locking part is arranged on the side of the rotating part for locking the rotating part from rotating.

[0012] In an implementation manner provided by the utility model, the adjustment module further comprises an axial rotation portion installed at the lower end of the support portion, and an axial movement portion matched with the axial rotation portion.

[0013] In an implementation manner provided by the utility model, the adjustment module further comprises a driving portion arranged on one side of the supporting portion; the driving portion is connected to the control module via a cable, and is used for receiving instructions from the control module and driving the axial rotating portion to rotate according to the instructions.

[0014] In an implementation manner provided by the utility model, the number of the suction cup gripper and the number of the connecting parts are both 2; the axial moving part is fixedly mounted on the upper end of each connecting part, and both are slidably connected to the track.

[0015] In an implementation mode provided by the utility model, the number of the suction cup grippers and the connecting parts are both 3; the axial moving parts are fixedly mounted on the upper ends of the connecting parts at both ends, and are both slidably connected to the track; the connecting part located in the middle is clamped on the track and fixedly connected to the supporting part.

[0016] In an implementation manner provided by the utility model, the axial rotating portion is provided with two sections of threads, and the two sections of threads have opposite rotation directions.

[0017] An embodiment provided by the utility model also includes a valve island arranged at the upper end of the support part; the valve island is used to receive instructions from the control module and control the vacuum degree of the suction cup gripper according to the instructions; the valve island is electrically connected to the control module through a cable, and is also provided with air inlets and air outlets, the number of which is the same as that of the suction cup gripper; the air inlet is connected to an external air compressor through a pipeline; the air outlet is connected to the suction cup gripper through a pipeline.

[0018] In an implementation manner provided by the utility model, a vacuum monitor is arranged on the upper end of each suction cup gripper, which is used to monitor the vacuum degree of each suction cup gripper during operation and transmit the monitoring value to the control module.

[0019] The beneficial effect of the utility model is that by setting a plurality of suction cup grippers on the adjustment module, the distance between each suction cup gripper can be automatically adjusted according to the dispatching instruction to adapt to goods of different sizes and specifications, and multiple goods can be grabbed at one time, which greatly improves the work efficiency. Thus, the problem of low work efficiency caused by the existing suction cup grippers that can only grab one item at a time for goods of different sizes and specifications is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use 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 embodiments can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 This is the overall structure diagram of the code plate gripper:

[0022] Figure 2 It is a schematic diagram of the structure of the code plate gripper;

[0023] Figure 3 This is a schematic diagram of the structure of the code plate gripper suction cup gripper.

[0024] In the figure: 1. Suction cup assembly; 101. Suction cup gripper; 102. Vacuum monitor; 2. Adjustment module; 201. Support part; 202. Driving part; 203. Axial rotating part; 204. Axial moving part; 205. Track; 206. Connecting part; 3. Valve island; 4. Adapter. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0027] It should be noted that when an element is referred to as being "fixed to", "placed on", "disposed with", "provided with", "set to", or "connected to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] A code plate gripper, such as Figure 1 to Figure 3 As shown, it includes a suction cup assembly 1, an adjustment module 2 and a control module.

[0030] Suction cup assembly 1, such as Figure 1 As shown, it includes a plurality of suction cup grippers 101 arranged in parallel. The suction cup grippers 101 are connected to an external air compressor through a pipeline to form a vacuum degree for grabbing goods.

[0031] It should be noted that if Figure 3 As shown, the suction cup gripper 101 is a prior art, which can be 2 or 3, or more than 3. The sponge suction gripper module structure is provided with a vacuum generator inside. The suction cup gripper is selected as: KVGL.400.240.N305.CVM.S3, and the brand is: PIAB.

[0032] The adjustment module 2 is connected to the upper ends of several suction cup grippers 101. The suction cup grippers 101 can preferably be fixed to the lower end surface of the adjustment module 2 by screws, or they can be fixed by welding and electrically connected to the control module through cables to adjust the spacing between the several suction cup grippers 101.

[0033] The control module communicates with the logistics warehousing dispatch center by wireless means, and is used to receive the product information sent by the dispatch center and send adjustment instructions to the adjustment module 2. It should be noted that the product information sent by the dispatch center includes the specifications and dimensions of the products. The control module determines how many products can be grabbed at one time based on this information, and then sends instructions to the adjustment module 2 to adjust the spacing of the suction cup gripper 101.

[0034] In a specific implementation, by setting a plurality of suction cup grippers 101 on the adjustment module 2, the distance between each suction cup gripper 101 can be automatically adjusted according to the scheduling instruction to adapt to goods of different sizes, and multiple goods can be grabbed at one time, which greatly improves the work efficiency. Thus, the problem of low work efficiency caused by the existing suction cup gripper 101 that can only grab one item at a time for goods of different sizes is solved.

[0035] In an embodiment of the utility model, the adjustment module 2 includes a support portion 201, and the upper end of the support portion 201 is connected to the encoder mechanical arm through an adapter 4, preferably by screws or welding to fix the upper end of the support portion 201 to the adapter 4, and the adapter 4 is then fixedly connected to the mechanical arm through screws. The lower end of the support portion 201 is provided with a connection portion 206 having the same number as the suction cup gripper 101. The upper end of the connection portion 206 is connected to the support portion 201 through a track 205, preferably by screws or welding to fix the track to the lower end of the support portion 201. The lower end of the connection portion 206 is fixedly connected to the suction cup gripper 101. It should be noted that the support portion 201 is fixedly formed by welding steel. The lower end of the connection portion 206 is preferably fixed to the suction cup gripper 101 by screws, and a card slot is provided at the upper end thereof to be slidably connected to the track 205.

[0036] In a specific implementation, the support portion 201 is made of steel welded and has a stable structure with high bearing capacity; the connecting portion 206 can drive the suction cup gripper 101 at the lower end to move along the track 205, so that the distance between each suction cup gripper 101 can be adjusted.

[0037] In the embodiment provided by the utility model, a rotating part is provided inside the adapter 4. The support part 201 can rotate around the axis of the rotating part; a locking part is provided on the side of the rotating part for locking the rotation of the rotating part. It should be noted that the locking part includes a locking pin arranged along the radial direction of the adapter 4 and a plurality of pin holes extending from the side wall of the adapter 4 to the internal rotating part, preferably the number of locking holes is ≥ 4, and the rotating part and the adapter 4 can be locked and fixed by inserting the locking pin into the pin hole.

[0038] It should be noted that the rotating part is an axial component, whose outer periphery is fixed to the inner ring of the bearing by interference fit, the outer ring of the bearing is pressed onto the inner wall of the through hole of the adapter 4, and the lower end of the rotating part is fixedly connected to the support part 201, preferably fixed by screws. The rotating part can rotate relative to the adapter 4 under the support of the bearing, and the support part 201 rotates with the rotating part.

[0039] In a specific implementation, the rotating part preferably adopts a roller bearing structure, which has a large load-bearing capacity and rotates smoothly without getting stuck. The rotating part can more conveniently adjust the angle of the code disc gripper according to the needs of code disc stacking, and after adjustment, it is locked and fixed by the locking part.

[0040] In one embodiment, the adjustment module 2 further includes an axial rotating portion 203 installed at the lower end of the support portion 201, and an axial moving portion 204 matched with the axial rotating portion 203. It should be noted that the axial rotating portion 203 and the axial moving portion 204 preferably adopt a screw-nut structure, with both ends of the axial rotating portion 203 fixed to the lower end of the support portion 201 by threads, and the axial moving portion 204 is sleeved on the axial rotating portion 203 by threads, the axial rotating portion 203 is a screw structure, and the axial moving portion 204 is a nut structure matched with the screw.

[0041] In a specific implementation, the lead screw-nut structure can fully meet the requirement of adjusting the spacing between the suction cup grippers 101, and the nut matched therewith is driven to move axially through the axial rotation of the lead screw.

[0042] In the implementation mode provided by the present utility model, Figure 2 As shown, the adjustment module 2 also includes a driving unit 202 disposed on one side of the support portion 201. The driving unit 202 is connected to the control module via a cable, and is used to receive instructions from the control module, and drive the axial rotating unit 203 to rotate according to the instructions. It should be noted that the driving unit 202 preferably adopts a stepping motor structure, and the driving unit 202 is fixed to one side of the support portion 201 by screws, and its output shaft is connected to the axial rotating unit 203 by a screw structure, and drives the axial rotating unit 203 to rotate.

[0043] In a specific implementation, a stepper motor can be used to accurately and effectively control the rotation of the axial rotating portion 203 , thereby making the spacing adjustment of each suction cup gripper 101 more accurate.

[0044] In one embodiment, the number of the suction cup gripper 101 and the number of the connecting parts 206 are both 2. An axial moving part 204 is fixedly mounted on the upper end of each connecting part 206, preferably connected by screws, and is slidably connected to the track 205.

[0045] In another embodiment, Figure 3 As shown, there are three suction cup grippers 101 and three connecting parts 206. The upper ends of the connecting parts 206 at both ends are fixedly mounted with axial moving parts 204, preferably connected by screws, and are both slidably connected to the track 205. The connecting part 206 in the middle is clamped on the track 205 and fixedly connected to the support part 201, preferably fixed by screws.

[0046] In a specific implementation, different numbers of suction cup grippers 101 can be provided as required, which can save costs and flexibly change the size of the code plate gripper.

[0047] In the embodiment provided by the utility model, the axial rotating part 203 is provided with two sections of threads, and the two sections of threads rotate in opposite directions. It should be noted that the two axial moving parts 204 cooperate with the two sections of threads respectively, so that when the axial rotating part 203 rotates, the two axial moving parts 204 move in opposite directions, thereby driving the suction cup grippers 101 on both sides to move closer to or away from the middle position.

[0048] In one embodiment, it also includes a valve island 3 arranged at the upper end of the support part 201, preferably fixedly connected by screws. The valve island 3 is used to receive instructions from the control module and control the vacuum degree of the suction cup gripper 101 according to the instructions. The valve island 3 is electrically connected to the control module through a cable, and is also provided with air inlets and air outlets the same number as the suction cup gripper 101, preferably connected by a threaded structure. The air inlet is connected to an external air compressor through a pipeline. The air outlet is connected to the suction cup gripper 101 through a pipeline. It should be noted that the cables and pipelines are arranged inside the support part 201, which has better neatness and can prevent pipeline damage.

[0049] In the embodiment provided by the utility model, a vacuum monitor 102 is provided at the upper end of each suction cup gripper 101, preferably connected by a threaded structure, for monitoring the vacuum degree of each suction cup gripper 101 during operation and transmitting the monitoring value to the control module.

[0050] In a specific implementation, the vacuum monitor 102 is used to monitor the vacuum level of each suction cup gripper 101 during operation, so as to determine whether any goods are loose.

[0051] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0052] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A code disc gripper, characterized in that: It includes a suction cup assembly, an adjustment module and a control module; The suction cup assembly includes a plurality of suction cup grippers arranged in parallel; the suction cup grippers are connected to an external air compressor through a pipeline and form a vacuum to grab the goods; The adjustment module is connected to the upper ends of the plurality of suction cup grippers and is electrically connected to the control module via a cable, and is used to adjust the spacing between the plurality of suction cup grippers; The control module communicates with the logistics warehousing dispatch center wirelessly to receive the product information sent by the dispatch center and send adjustment instructions to the adjustment module; The adjustment module comprises a support portion, the upper end of which is connected to the encoder mechanical arm through an adapter, and the lower end of which is provided with connection portions having the same number as the suction cup grippers; the upper end of the connection portion is connected to the support portion through a track, and the lower end of the connection portion is fixedly connected to the suction cup gripper; A rotating part is arranged inside the adapter, and the supporting part can rotate around the axis of the rotating part; a locking part is arranged on the side of the rotating part for locking the rotating part from rotating.

2. The code disc gripper according to claim 1, characterized in that: The adjustment module further comprises an axial rotation part installed at the lower end of the support part, and an axial movement part matched with the axial rotation part.

3. The code disc gripper according to claim 2, characterized in that: The adjustment module also includes a driving part arranged at one side of the supporting part; the driving part is connected to the control module through a cable, and is used for receiving instructions from the control module and driving the axial rotating part to rotate according to the instructions.

4. The code disc gripper according to claim 2, characterized in that: The number of the suction cup gripper and the number of the connecting parts are both 2; the axial moving part is fixedly installed on the upper end of each connecting part, and is slidably connected to the track.

5. The code disc gripper according to claim 2, characterized in that: The number of the suction cup grippers and the connecting parts is three; the axial moving parts are fixedly installed on the upper ends of the connecting parts at both ends, and are both slidably connected to the track; the connecting part located in the middle is clamped on the track and fixedly connected to the supporting part.

6. The code disc gripper according to claim 2, characterized in that: The axial rotating portion is provided with two sections of threads, and the two sections of threads have opposite rotation directions.

7. The code disc gripper according to claim 1, characterized in that: It also includes a valve island arranged at the upper end of the support part; the valve island is used to receive instructions from the control module and control the vacuum degree of the suction cup gripper according to the instructions; the valve island is electrically connected to the control module through a cable, and is also provided with air inlets and air outlets, the number of which is the same as that of the suction cup grippers; the air inlet is connected to an external air compressor through a pipeline; the air outlet is connected to the suction cup gripper through a pipeline.

8. The code disc gripper according to claim 1, characterized in that: A vacuum monitor is provided at the upper end of each suction cup gripper, which is used to monitor the vacuum degree of each suction cup gripper during operation and transmit the monitored value to the control module.

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