Full-suction-cup type mechanical gripper for carton unstacking

Abstract

The utility model discloses a full-sucker type mechanical gripper for carton unstacking, which belongs to the technical field of mechanical grippers and comprises a mechanical gripper body provided with a suction structure. The suction structure comprises a bottom plate installed on the outer wall of the mechanical gripper body, a vacuum pump is installed on the top wall of the bottom plate, an air suction port of the vacuum pump communicates with a communicating pipe, a pressure maintaining tank is installed on the top wall of the bottom plate, and the end, away from the vacuum pump, of the communicating pipe communicates with an air inlet of the pressure maintaining tank. A suction structure and a heating wire are arranged, a vacuum pump is started to vacuumize the periphery of a carton, the carton is grabbed by a suction head, then the carton is driven to a proper position by moving a mechanical gripper body, and the heating wire is started through induction of a humidity-sensitive inductor so as to reduce or disperse surrounding moisture. The manufacturing cost is effectively reduced, and the problems that the cartons are damaged during grabbing and grabbing fails are effectively solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical grippers, and in particular relates to a full-suction cup type mechanical gripper for depalletizing cartons. Background Art

[0002] As an important part of the field of mechanical automation, the mechanical gripper has a wide range of applications and important functions. The mechanical gripper is mainly used to automatically grasp, carry, position and place objects, including depalletizing cartons. It can efficiently and accurately complete various complex and delicate operation tasks.

[0003] However, when the robot gripper grabs cartons, cartons of different sizes, shapes, and weights may require different types of robot grippers to adapt, which increases the design and manufacturing costs of the robot gripper. At the same time, if the material of the carton is fragile or the surface is uneven, the robot gripper may damage it when grabbing it, or fail because it cannot grab it stably.

[0004] In order to solve the above problems, the present application proposes a full-suction cup mechanical gripper for depalletizing cartons. Utility Model Content

[0005] In view of the problems in the related technology, the utility model proposes a full-suction cup type mechanical gripper for depalletizing cartons to overcome the above technical problems existing in the existing related technology.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A full-suction cup type mechanical gripper for depalletizing cartons, comprising a mechanical gripper body, on which a suction structure is arranged;

[0008] The suction structure includes a bottom plate installed on the outer wall of the mechanical gripper body, a vacuum pump is installed on the top wall of the bottom plate, an air suction port of the vacuum pump is connected with a connecting pipe, a pressure-maintaining tank is installed on the top wall of the bottom plate, an end of the connecting pipe away from the vacuum pump is connected with an air inlet of the pressure-maintaining tank, an air outlet of the pressure-maintaining tank is connected with a telescopic tube, a pillar is installed on the end of the mechanical gripper body away from the bottom plate, a vacuum suction cup is installed on the bottom wall of the pillar, an end of the telescopic tube away from the pressure-maintaining tank is connected with an air inlet of the vacuum suction cup, and an air outlet of the vacuum suction cup is connected with a suction head;

[0009] The vacuum suction cup is provided with a dehumidification structure, and the dehumidification structure includes a heating wire arranged on the bottom wall of the vacuum suction cup, and the outer wall of the heating wire is not connected to the outer wall of the suction head.

[0010] A fixing block is installed on the outer wall of the mechanical gripper body, and the inner wall of the fixing block is movably connected to the outer wall of the telescopic tube. By setting the fixing block, a certain fixing effect is achieved on the telescopic tube.

[0011] A first cylinder is installed on the bottom wall of the vacuum suction cup, a second cylinder is installed on the bottom wall of the vacuum suction cup away from the first cylinder, an inclined plate is installed on the side of the second cylinder away from the vacuum suction cup, a heating wire is installed on the top wall of the inclined plate, an outer wall of the heating wire is penetrated and fixedly connected with the outer wall of the suction head, and the inclined plate is provided to facilitate the sliding of dewdrops.

[0012] A connecting box is installed on the side of the inclined plate away from the first cylinder, a slider is installed on the inner wall of the connecting box, a slide rail is slidably connected to the outer wall of the slider, a sponge is installed on the side of the slide rail away from the slider, and a fixing plate is installed on the outer wall of the sponge. By arranging the sponge, the possibility of splashing of falling dewdrops can be effectively avoided.

[0013] The bottom wall of the connection box is connected to a bellows, and an air-permeable plate is installed on the inner wall of the connection box. The air-permeable plate is located above the bellows, and the bottom wall of the sponge fits with the top wall of the air-permeable plate. The bellows is provided to accelerate the drying speed of the sponge.

[0014] A moisture sensor is installed on the bottom wall of the slide rail. The moisture sensor is electrically connected to the heating wire, and the moisture sensor is electrically connected to the bellows. The moisture sensor is provided to facilitate control of the start-up of the heating wire and the bellows.

[0015] In summary, the technical effects and advantages of the utility model are as follows: the full suction cup mechanical gripper for depalletizing cartons,

[0016] 1. By setting up the suction structure and heating wire, start the vacuum pump to evacuate the area around the carton, so that the suction head can grab the carton, and then move the carton to the appropriate position by moving the mechanical gripper body. Then, the moisture sensor senses and starts the heating wire to reduce or dissipate the surrounding moisture. Through the design of the suction structure and heating wire, the manufacturing cost is effectively reduced, and the damage to the carton and the failure of grabbing can be effectively avoided.

[0017] 2. By setting up a dehumidification structure, when starting the heating wire, the dew condensed on the colder part of the heating wire will slide onto the sponge through the inclined plate, and the bellows will be started to dry the sponge to a certain extent, so as to increase the use time of the sponge and effectively improve the use effect of the heating wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the shampoo and vacuum suction cup of the utility model;

[0020] Figure 3 This is a schematic diagram of the heating wire and the second cylindrical structure of the utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the slider and the air-permeable plate of the utility model.

[0022] In the figure:

[0023] 1. Mechanical gripper body;

[0024] 2. Suction structure; 201. Bottom plate; 202. Vacuum pump; 203. Connecting pipe; 204. Pressure-maintaining tank; 205. Telescopic pipe; 206. Vacuum suction cup; 207. Suction head; 208. Support column; 209. Fixing block;

[0025] 3. Dehumidification structure; 301. First cylinder; 302. Inclined plate; 303. Heating wire; 304. Connecting box; 305. Sliding block; 306. Sliding rail; 307. Breathable plate; 308. Sponge; 309. Fixed plate; 310. Bellows; 311. Moisture sensor; 312. Second cylinder. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0027] Reference Figure 1-3 A full-suction cup mechanical gripper for depalletizing cartons includes a mechanical gripper body 1. The mechanical gripper body 1 is an existing device. The components of the mechanical gripper body 1 include a motion element, a guide device, a control system and an arm, etc. The control system controls the mechanical gripper body 1 to rotate at an angle. A suction structure 2 is provided on the mechanical gripper body 1. The suction structure 2 includes a bottom plate 201 installed on the outer wall of the mechanical gripper body 1. A vacuum pump 202 is installed on the top wall of the bottom plate 201. The suction port of the vacuum pump 202 is connected to a connecting pipe 203. The inside of the connecting pipe 203 is vacuumed by starting the vacuum pump 202.

[0028] A pressure-maintaining tank 204 is installed on the top wall of the bottom plate 201, and the end of the connecting pipe 203 away from the vacuum pump 202 is connected to the air inlet of the pressure-maintaining tank 204, and the air outlet of the pressure-maintaining tank 204 is connected to the telescopic tube 205. The set pressure-maintaining tank 204 can effectively stabilize the pressure in the system and prevent sudden changes in pressure, thereby ensuring the normal operation of the system. It can also absorb and buffer the impact of the gas, reduce damage to other parts of the system, and improve the stability and reliability of the system.

[0029] A support 208 is installed at one end of the mechanical gripper body 1 away from the base plate 201, and a vacuum suction cup 206 is installed on the bottom wall of the support 208. The end of the telescopic tube 205 away from the pressure-maintaining tank 204 is connected to the air inlet of the vacuum suction cup 206, and the air outlet of the vacuum suction cup 206 is connected to a suction head 207. The suction head 207 is made of high-temperature resistant rubber material. When the carton is vacuum-grasped by the suction head 207, not only the sealing performance during grasping is improved, but also certain wear and tear on the carton is effectively avoided. There are multiple suction heads 207, which can improve the grasping effect.

[0030] A dehumidification structure 3 is provided on the vacuum suction cup 206. The dehumidification structure 3 includes a heating wire 303 arranged on the bottom wall of the vacuum suction cup 206. The outer wall of the heating wire 303 is not in contact with the outer wall of the suction head 207. The setting of the heating wire 303 helps to reduce or dissipate the moisture in the environment near the suction head 207, effectively avoiding the problem that the suction head 207 is seriously affected by the excessive humidity of the surrounding environment.

[0031] A fixing block 209 is installed on the outer wall of the mechanical gripper body 1, and the inner wall of the fixing block 209 is movably connected to the outer wall of the telescopic tube 205. There are two fixing blocks 209, which are respectively distributed at different positions of the mechanical gripper body 1, for fixing the telescopic tube 205 to a certain extent.

[0032] Reference Figure 2-4 A first cylinder 301 is installed on the bottom wall of the vacuum suction cup 206. There are two first cylinders 301, which are respectively located at the right corner of the vacuum suction cup 206. A second cylinder 312 is installed on the bottom wall of the vacuum suction cup 206 away from the first cylinder 301. There are two second cylinders 312, which are respectively located at the left corner of the vacuum suction cup 206, and the height of the second cylinder 312 is higher than the height of the first cylinder 301. An inclined plate 302 is installed on the side of the second cylinder 312 away from the vacuum suction cup 206. A heating wire 303 is installed on the top wall of the inclined plate 302. The outer wall of the heating wire 303 is fixedly connected to the outer wall of the suction head 207. Through the arrangement of the second cylinder 312 and the first cylinder 301, the inclined plate 302 has a certain inclination.

[0033] When the surrounding humidity is too heavy or the heating wire 303 is in a high humidity environment for a long time, condensation may occur on the surface of the heating wire 303, which may reduce its working efficiency. By utilizing the inertia generated by the inclined plate 302, the dew on the heating wire 303 slides off, thereby improving the operating effect of the heating wire 303.

[0034] A connecting box 304 is installed on the side of the inclined plate 302 away from the first cylinder 301. The connecting box 304 is made of high temperature resistant material. A slider 305 is installed on the inner wall of the connecting box 304. The outer wall of the slider 305 is slidably connected to a slide rail 306. A sponge 308 is installed on the side of the slide rail 306 away from the slider 305. The heating wire 303 is at a certain distance from the sponge 308. A fixing plate 309 is installed on the outer wall of the sponge 308. The fixing plate 309 is located on the right side of the connecting box 304, and the sponge 308 is easily inserted through the fixing plate 309. When the dewdrops condensed on the heating wire 303 slide toward the connecting box 304 and are absorbed by the sponge 308, the possibility of splashing after the dewdrops slide is effectively avoided. The sponge 308 is pulled to slide on the connecting box 304 through the fixing plate 309, which is convenient for personnel to install and disassemble.

[0035] The bottom wall of the connecting box 304 is connected to the bellows 310, and the inner wall of the connecting box 304 is installed with a breathable plate 307, which is located above the bellows 310. The bottom wall of the sponge 308 is in contact with the top wall of the breathable plate 307. The bellows 310 is provided with a miniature fan of model 1504, which is small in size and weighs only 1.4 grams. It is very energy-saving and has a rotation speed of up to 5000 rpm. The fan blows air to the sponge 308 through the breathable plate 307 to improve its air-drying effect.

[0036] A moisture sensor 311 is installed on the bottom wall of the slide rail 306. The moisture sensor 311 is electrically connected to the heating wire 303. The moisture sensor 311 is electrically connected to the bellows 310. The model of the moisture sensor 311 is SHT21. When the moisture sensor 311 senses that the humidity in the surrounding environment exceeds the standard, the heating wire 303 and the bellows 310 are started to reduce or dissipate the surrounding moisture and improve the use effect of the heating wire 303 and the suction head 207.

[0037] Working principle:

[0038] Start the vacuum pump 202 and the mechanical gripper body 1. After the mechanical gripper body 1 drives the suction head 207 to align with and stick to the carton, the vacuum pump 202 draws a vacuum around the carton through the connecting pipe 203, the pressure-maintaining tank 204; the telescopic tube 205, the vacuum suction cup 206 and the suction head 207, so that the suction head 207 can grasp the carton, and then the carton is driven to a suitable position by moving the mechanical gripper body 1. When the moisture around the suction head 207 exceeds the standard, the heating wire 303 is started through the induction of the moisture-sensitive sensor 311 to reduce or dissipate the surrounding moisture. The design of the suction structure 2 and the heating wire 303 can effectively reduce the manufacturing cost, and effectively avoid damage to the carton and grasping failure during grasping.

[0039] During the process of starting the heating wire 303, if the ambient temperature drops below the dew point, water vapor may still condense into dew drops at the colder parts of the heating wire 303. At this time, the dew drops slide onto the sponge 308 through the inclined plate 302, and the bellows 310 is simultaneously started through the moisture-sensitive sensor 311 to achieve a certain air-drying effect on the sponge 308 set inside the connecting box 304, thereby increasing the use time of the sponge 308 and effectively improving the use effect of the heating wire 303.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A full-suction cup type mechanical gripper for depalletizing cartons, comprising a mechanical gripper body (1), characterized in that: The mechanical gripper body (1) is provided with a suction structure (2); The suction structure (2) comprises a bottom plate (201) mounted on the outer wall of the mechanical gripper body (1); a vacuum pump (202) is mounted on the top wall of the bottom plate (201); a connecting pipe (203) is connected to the air suction port of the vacuum pump (202); a pressure-maintaining tank (204) is mounted on the top wall of the bottom plate (201); an end of the connecting pipe (203) away from the vacuum pump (202) is connected to the air inlet of the pressure-maintaining tank (204); The air outlet of the pressure-maintaining tank (204) is connected to a telescopic tube (205); a support (208) is installed at one end of the mechanical gripper body (1) away from the bottom plate (201); a vacuum suction cup (206) is installed on the bottom wall of the support (208); an end of the telescopic tube (205) away from the pressure-maintaining tank (204) is connected to an air inlet of the vacuum suction cup (206); and an air outlet of the vacuum suction cup (206) is connected to a suction head (207); The vacuum suction cup (206) is provided with a dehumidification structure (3), and the dehumidification structure (3) includes a heating wire (303) arranged on the bottom wall of the vacuum suction cup (206), and the outer wall of the heating wire (303) is not connected to the outer wall of the suction head (207).

2. A full suction cup mechanical gripper for depalletizing cartons according to claim 1, characterized in that: A fixing block (209) is installed on the outer wall of the mechanical gripper body (1), and the inner wall of the fixing block (209) is movably connected to the outer wall of the telescopic tube (205).

3. The full suction cup mechanical gripper for depalletizing cartons according to claim 1 is characterized in that: A first cylinder (301) is installed on the bottom wall of the vacuum suction cup (206), a second cylinder (312) is installed on the bottom wall of the vacuum suction cup (206) away from the first cylinder (301), an inclined plate (302) is installed on the side of the second cylinder (312) away from the vacuum suction cup (206), a heating wire (303) is installed on the top wall of the inclined plate (302), and the outer wall of the heating wire (303) is penetrated and fixedly connected with the outer wall of the suction head (207).

4. The full suction cup mechanical gripper for depalletizing cartons according to claim 3 is characterized in that: A connection box (304) is installed on the side of the inclined plate (302) away from the first cylinder (301), a slider (305) is installed on the inner wall of the connection box (304), a slide rail (306) is slidably connected to the outer wall of the slider (305), a sponge (308) is installed on the side of the slide rail (306) away from the slider (305), and a fixing plate (309) is installed on the outer wall of the sponge (308).

5. The full suction cup mechanical gripper for depalletizing cartons according to claim 4 is characterized in that: The bottom wall of the connection box (304) is connected to a bellows (310), and an air permeable plate (307) is installed on the inner wall of the connection box (304). The air permeable plate (307) is located above the bellows (310), and the bottom wall of the sponge (308) is in contact with the top wall of the air permeable plate (307).

6. The full suction cup mechanical gripper for depalletizing cartons according to claim 4 is characterized in that: A moisture sensor (311) is installed on the bottom wall of the slide rail (306), and the moisture sensor (311) is electrically connected to the heating wire (303), and the moisture sensor (311) is electrically connected to the bellows (310).

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