Multi-specification material grabbing manipulator

Abstract

The utility model relates to the technical field of manipulators, and discloses a multi-specification goods and materials grabbing manipulator which comprises a frame body, a manipulator body and a manipulator body. The at least two top suction modules are installed on the frame body and arranged in the first direction, and each top suction module comprises a top suction module body and a plurality of first suction cups arranged on the bottom side of the top suction module body; the position of the at least one top suction module is adjustable in the first direction; the side suction module is installed on the frame body and located on the side, parallel to the first direction, of the peripheral side of the top suction module, and the side suction module comprises a side suction module body and at least two second suction cups arranged on the side, facing the top suction module, of the side suction module; the position of the side suction module is adjustable in the second direction and the position of the side suction module is adjustable in the third direction, the second direction is perpendicular to the first direction, and the third direction is perpendicular to the first direction and the second direction. The multi-specification material grabbing manipulator can be suitable for grabbing materials of different sizes, numbers and types within a certain range, and is convenient to use and high in applicability.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator for grabbing materials of multiple specifications. Background Art

[0002] At present, with the continuous advancement of industrial automation, more and more robotic arms are appearing in thousands of industries. By replacing manual labor, work efficiency has been greatly improved and production costs have been reduced. Especially in the logistics industry, more and more terms such as smart factories and smart warehousing systems have appeared in people's vision. Due to the variety of working environments of robotic arms, the size, type and quantity of the objects they face are also different, so the requirements for the manipulator at the end of the robotic arm are becoming more and more stringent.

[0003] Nowadays, there are many types of manipulators in various industries. Among them, rigid grippers are not friendly to the operation of the transported objects, and strict force feedback and flexible protection need to be set to avoid damage to the transported objects. The suction cup type manipulator has flexible contact and sufficient grasping reliability. However, the current suction cup manipulators are unable to adapt to various sizes, quantities, and types of handling conditions, and often need to be solved by changing the size of the suction cup. It is inconvenient to use and has poor applicability. Utility Model Content

[0004] The purpose of the utility model is to provide a multi-specification material grabbing manipulator, which can grab materials of different sizes, grab more than one material within a certain size range, and grab different types of materials within a certain range. When installed on a mechanical arm, it is not necessary to change the suction cup size and other measures to adapt to the grabbing of different materials. It is very convenient to use and has strong applicability. The side suction module cooperates with the top module on the side, which can make the material grabbing firm and reliable, thereby improving the safety of use.

[0005] In order to achieve the above object, the utility model provides the following technical solutions:

[0006] A multi-standard material grabbing manipulator, comprising:

[0007] Frame;

[0008] At least two top suction modules installed on the frame and arranged along the first direction, each of the top suction modules comprising a top suction module body and a plurality of first suction cups arranged on the bottom side of the top suction module body; wherein at least one of the top suction modules is positionally adjustable along the first direction to form a movable suction cup module;

[0009] A first driving component for driving the movable suction cup module to move along the first direction;

[0010] A side suction module, the side suction module is installed on the frame, and is located on one side of at least two sides of the top suction module that is parallel to the first direction, the side suction module comprises: a side suction module body, and at least two second suction cups arranged on one side of the side suction module facing the top suction module; wherein the side suction module is positionally adjustable along the second direction and along the third direction, the second direction is perpendicular to the first direction, the third direction is perpendicular to the first direction, and perpendicular to the second direction;

[0011] A second driving component for driving the side suction module to move along the second direction;

[0012] A third driving component is used to drive the side suction module to move along the third direction.

[0013] The above-mentioned multi-specification material grabbing robot can be installed on a robot arm to grab materials, and the top suction module above can adsorb and grab materials, and for materials of different sizes and specifications, the movable suction cup module can be driven to move in the first direction to adjust the spacing between each top suction module, so that the adsorption position of each top suction module on the material can be adjusted. For example, for materials of smaller sizes, the top suction modules can be brought close to each other for adsorption during top surface adsorption; or, for materials of smaller sizes, the movable suction cup module can be driven to move so that there is a gap between the top suction modules. When the adsorption force allows, each top suction module can adsorb and grab one material, and the robot can simultaneously adsorb and grab at least two materials of larger sizes. Small materials; for materials of relatively large size, the top surface is larger, and the movable suction cup module can be driven to adjust the distance between the adjacent top suction modules, expand the distance between the top adsorption and grasping points, and the overall grasping effect is better. In addition, the side suction module performs auxiliary adsorption and fixation on the side of the material, and the side suction module can move in the second direction and the third direction, so as to adjust the space for accommodating materials between the side suction module and the top suction module, and adapt to materials of different sizes. The side suction module cooperates with the top suction module to grasp materials of different sizes and specifications. According to actual needs, at least two materials can also be grasped at the same time, and due to the auxiliary adsorption and fixation of the side suction module, it can be suitable for the adsorption and grasping of different types of materials within a certain range, thereby improving the applicability of the manipulator.

[0014] Therefore, the above-mentioned multi-specification material grasping robot can grasp materials of different sizes, grasp more than one material within a certain size range, and grasp different types of materials within a certain range. When installed on the robotic arm, there is no need to change the suction cup size and other measures to adapt to the grasping of different materials. It is very convenient to use and has strong applicability. The side suction module cooperates with the top module on the side, which can make the material grasping firm and reliable, thereby improving the safety of use.

[0015] Optionally, the first driving assembly includes a first guide rail extending along the first direction, a first slider assembly movably mounted on the first guide rail along the first direction, and a first power device for driving the first slider assembly to move, and the movable suction cup module is mounted on the first slider assembly.

[0016] Optionally, the first driving assembly includes a linear module, the linear module includes the first guide rail, a first slider assembly slidably matched with the first guide rail, and a motor for driving the first slider assembly to move.

[0017] Optionally, the number of the top suction modules is three, and the top suction modules located on both sides constitute the movable suction cup modules;

[0018] Optionally, the two movable suction cup modules move independently, or the two movable suction cup modules move in conjunction with each other.

[0019] Optionally, the second driving assembly includes: a second guide rail mounted on the frame and extending along the second direction, a second slider assembly movably mounted on the second guide rail along the second direction, and a second power device for driving the second slider assembly to move, the third driving assembly is mounted on the second slider assembly, and the side suction module is mounted on the third driving assembly;

[0020] Preferably, the third driving assembly includes: a third guide rail installed on the second slider assembly and extending along the third direction, a third slider assembly movably installed on the third guide rail along the third direction, and a third power device for driving the third slider assembly to move, and the side suction module is installed on the third slider assembly.

[0021] Optionally, the second guide rails are provided in two numbers, the two second guide rails are arranged along the first direction and spaced apart, the two second slider assemblies on the two second guide rails are connected via a bracket plate, and the third driving assembly is mounted on the bracket plate;

[0022] Optionally, two third guide rails are provided, the two third guide rails are arranged along the first direction and spaced apart, the two third slider assemblies on the two third guide rails are connected by a connecting frame, and the side suction module is installed on the connecting frame.

[0023] Optionally, the second power device includes a first cylinder;

[0024] The third power device includes a second cylinder, and the second cylinder is used to drive the connecting frame to move.

[0025] Optionally, the multi-standard material grabbing manipulator further includes a pneumatic system, which is used to provide inflation or suction to the top suction module and the side suction module; and the inflation or suction of the top suction module and the side suction module are independently controlled, and the inflation or suction of each top suction module is independently controlled;

[0026] The pneumatic system is connected to the top suction module via a first air circuit, a first vacuum generator is provided on the first air circuit, and a first air pressure sensor is provided between the first vacuum generator and the top suction module;

[0027] The pneumatic system is connected to the side suction module via a second air circuit, a second vacuum generator is provided on the second air circuit, and a second air pressure sensor is provided between the second vacuum generator and the side suction module.

[0028] Optionally, the pneumatic system comprises: an air source, the air supply port of the air source is connected to a main air circuit, and a pneumatic triplet is arranged on the main air circuit; wherein the air outlet of the main air circuit is connected to a first branch air circuit and a second branch air circuit;

[0029] The first cylinder is connected to the first branch gas circuit via a first two-position five-way valve, and a first throttle valve is provided at both the air inlet and the air outlet of the first cylinder; the second cylinder is connected to the first branch gas circuit via a second two-position five-way valve, and a second throttle valve is provided at both the air inlet and the air outlet of the second cylinder;

[0030] Each of the top suction modules is connected to the second branch gas circuit via the first gas circuit, the first gas circuit and the second branch gas circuit are connected via a first two-position three-way valve, the side suction module is connected to the second branch gas circuit via the second gas circuit, the second gas circuit and the second branch gas circuit are connected via a second two-position three-way valve.

[0031] Optionally, the multi-standard material grabbing manipulator further includes a material detection sensor for detecting materials;

[0032] Optionally, the material detection sensor includes a diffuse reflection photoelectric sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. Among them:

[0034] Figure 1 A schematic diagram of the structure of a multi-standard material grabbing manipulator provided in an embodiment of the utility model;

[0035] Figure 2A schematic diagram of the structure of a multi-standard material grabbing manipulator provided in an embodiment of the utility model;

[0036] Figure 3 A schematic diagram of a starting system for a multi-standard material grabbing manipulator provided in an embodiment of the utility model.

[0037] Icons: 1-frame; 2-top suction module; 3-side suction module; 4-first guide rail; 5-first slider assembly; 6-second guide rail; 7-second slider assembly; 8-third guide rail; 9-third slider assembly; 10-first cylinder; 11-second cylinder; 12-support plate; 13-connecting frame; 14-first vacuum generator; 15-second vacuum generator; 16-air source; 17-pneumatic triplet; 18-first two-position five-way valve; 19-first throttle valve; 20-second two-position five-way valve; 21-second throttle valve; 22-first two-position three-way valve; 23-second two-position three-way valve; 24-connecting flange; 25-linear module; 26-photoelectric sensor. DETAILED DESCRIPTION

[0038] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention includes such modifications and variations within the scope of the appended claims and their equivalents.

[0039] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense. For example, they can be fixedly connected or detachably connected; they can be directly connected or indirectly connected through an intermediate component. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0040] refer to Figure 1 , Figure 2 and Figure 3As shown, the utility model provides a multi-specification material grasping manipulator, wherein, for the convenience of explanation, a plane parallel to the first direction and the second direction is taken as a horizontal plane, and the third direction is taken as a vertical direction. A multi-specification material grasping manipulator in this embodiment includes: a frame 1, a top suction module group 2, a first drive assembly, a side suction module group 3, a second drive assembly and a third drive assembly; specifically, at least two top suction module groups 2 are installed under the frame, and at least two top suction module groups 2 are arranged along the first direction, each top suction module group 2 includes a top suction module group 2 body and a plurality of first suction cups arranged on the bottom side of the top suction module group 2 body, the suction port of each first suction cup faces downward, and the suction ports of the plurality of first suction cups are arranged flush, illustratively, in each top suction module group 2, the plurality of first suction cups can be divided into a plurality of first suction cup groups, a first suction cup group includes a plurality of first suction cups arranged and distributed along the second direction, and the first suction cups in each first suction cup group form a row, Multiple first suction cup groups are arranged along a first direction, and the first suction cups in two adjacent first suction cup groups are staggered in a second direction; the main body of the top suction module 2 can be set to a rectangular shape, the lower surface of the main body of the top suction module 2 is a rectangle, the length of the long side of the lower surface is greater than the length of the wide side, the long side of the lower surface extends along the second direction, the lower surface of the main body of the top suction module 2 is covered with first suction cups, and the lower surface of the main body of the top suction module 2 is provided with mounting ports corresponding to each first suction cup one by one, and the interior of the main body of the top suction module 2 is provided with ventilation ducts connected to each mounting port; wherein, at least one top suction module 2 is adjustable in position along the first direction to form a movable suction cup module; the first driving assembly is used to drive the movable suction cup module to move along the first direction.

[0041] The side suction module 3 is installed on the frame 1, and the side suction module 3 is located on one side parallel to the first direction among the peripheral sides of at least two top suction modules 2, and the side suction module 3 includes: a side suction module 3 body, and at least two second suction cups arranged on the side of the side suction module 3 facing the top suction module 2, and a space for accommodating materials to be sucked can be formed between the side suction module 3 and the top suction module 2, and the top suction module 2 absorbs and grasps the materials on the top surface of the materials, and the suction port of the second suction cup faces the space for accommodating the materials to be sucked, and the side suction module 3 absorbs and grasps the materials on the side of the materials. The suction ports of multiple second suction cups are arranged flush to form a longitudinal suction surface, and the suction ports of multiple first suction cups are arranged flush to form a horizontal suction surface, and the longitudinal suction surface and the horizontal suction surface are perpendicular to each other; wherein, the side suction module 3 is positionally adjustable along the second direction and along the third direction, the second direction is perpendicular to the first direction, the third direction is perpendicular to the first direction, and perpendicular to the second direction; the second driving assembly is used to drive the side suction module 3 to move along the second direction; the third driving assembly is used to drive the side suction module 3 to move along the third direction.

[0042] The above-mentioned multi-specification material grabbing manipulator can be installed on a manipulator arm to grab materials, and the top suction module 2 above can absorb and grab materials, and for materials of different sizes and specifications, the movable suction cup module can be driven to move in the first direction to adjust the spacing between each top suction module 2, so that the adsorption position of each top suction module 2 on the material can be adjusted. For example, for materials of smaller sizes, the top suction modules 2 can be made close to each other for adsorption during top surface adsorption; or, for materials of smaller sizes, the movable suction cup module can be driven to move so that there are intervals between the top suction modules 2. When the adsorption force permits, each top suction module 2 can absorb and grab one material, and the manipulator can simultaneously absorb and grab at least two materials of smaller sizes. Materials; for materials of relatively large size, the top surface is larger, and the movable suction cup module can be driven to adjust the distance between the adjacent top suction modules 2, expand the distance between the top adsorption and grabbing points, and the overall grabbing effect is better. In addition, the side suction module 3 performs auxiliary adsorption and fixation on the side of the material, and the side suction module 3 can move in the second direction and the third direction, so as to adjust the space for accommodating materials between the side suction module 3 and the top suction module 2, and adapt to materials of different sizes. The side suction module 3 cooperates with the top suction module 2 to grab materials of different sizes and specifications. According to actual needs, at least two materials can also be grabbed at the same time, and due to the auxiliary adsorption and fixation of the side suction module 3, it can be suitable for the adsorption and grabbing of different types of materials within a certain range, thereby improving the applicability of the manipulator.

[0043] Therefore, the above-mentioned multi-specification material grasping robot can grasp materials of different sizes, grasp more than one material within a certain size range, and grasp different types of materials within a certain range. When installed on the robotic arm, there is no need to change the suction cup size and other measures to adapt to the grasping of different materials. It is very convenient to use and has strong applicability. The side suction module cooperates with the top module on the side, which can make the material grasping firm and reliable, thereby improving the safety of use.

[0044] Among them, in order to facilitate the connection between the manipulator and the robotic arm, Figure 1 As shown, a connecting flange 24 can be set above the frame 1. The connecting flange 24 is fixedly connected to the frame 1. The connecting flange 24 can be matched with the flange on the robot arm. When the robot is installed on the robot arm, the connecting flange 24 can be directly connected and fixed to the flange on the robot arm. The connection is convenient and reliable.

[0045] In a possible embodiment, the above-mentioned multi-standard material grabbing robot also includes a control device, and the first drive component, the second drive component and the third drive component are all connected to the control device signal. The control device can control the action of the first drive component, thereby controlling the action state of the movable suction cup module in the first direction, and the control device can control the action of the second drive component and the third drive component, thereby controlling the action state of the movable suction cup module in the second direction and the third direction; the top suction module and the side suction module are both connected to the control device signal, and the control device can control the adsorption state of the first suction cup of the top suction module, as well as control the adsorption state of the second suction cup of the side suction module.

[0046] In one possible implementation, Figure 1 and Figure 2 As shown, the above-mentioned first driving assembly includes a first guide rail 4 extending along a first direction, a first slider assembly 5 movably installed on the first guide rail 4 along the first direction, and a first power device for driving the first slider assembly 5 to move. The first slider assembly 5 can be a slider structure. The first slider assembly 5 slides with the first guide rail 4. The movable suction cup module is installed on the first slider assembly 5. The top suction module 2 of the movable suction cup module is fixedly connected to the first slider assembly 5 and can move relative to the movement of the first slider assembly 5.

[0047] Specifically, Figure 1 As shown, the first driving assembly may include a linear module 25, the linear module 25 includes a first guide rail 4, a first slider assembly 5 slidably matched with the first guide rail 4, and a motor for driving the first slider assembly 5 to move, the motor may be a servo motor or a stepper motor, the linear module 25 has a housing, the first guide rail 4 is arranged on the outside of the housing, the first slider assembly 5 is mounted on the first guide rail 4, and a transmission mechanism is arranged in the housing, the transmission mechanism is transmission-connected with the first slider assembly 5, the motor is transmission-connected with the transmission mechanism, and the motor is transmission-connected with the first slider assembly 5 through the transmission mechanism. Exemplarily, the transmission mechanism is a screw-nut mechanism, the screw of the screw-nut mechanism is extended along the first direction, the nut of the screw-nut mechanism is matched with the screw, the first slider assembly 5 is fixedly connected with the nut, the motor is transmission-connected with the screw, and the screw can be driven to rotate.

[0048] Based on the above multi-standard material grabbing manipulator, refer to Figure 2 As shown, three top suction modules 2 can be set, and the three top suction modules 2 are arranged in sequence along the first direction, and among the three top suction modules 2, the top suction modules 2 located on the outermost sides constitute movable suction cup modules, and the top suction module 2 located in the middle is fixed to the frame 1.

[0049] The two movable suction cup modules move independently, and the two movable suction cup modules are respectively connected to an independent first driving component, so that the two movable suction cup modules can move independently and have better adjustment flexibility.

[0050] Alternatively, refer to Figure 1 As shown, two movable suction cup modules can also be set to move in linkage with each other, and the two movable suction cup modules can be connected to the same first drive assembly, so that the two movable suction cup modules move at the same time, and when the two movable suction cup modules move at the same time, the movement directions of the two are opposite. Exemplarily, the two movable suction cup modules are installed on the same linear module 25, and the screw of the screw nut mechanism in the linear module 25 is a positive and negative thread screw, half of which has positive teeth and the other half has negative teeth. The two movable suction cup modules are respectively connected to different first slider assemblies, and two nuts are arranged on the same positive and negative thread screw, one of which cooperates with the part with positive teeth in the screw, and the other nut cooperates with the part with negative teeth in the screw, and the first slider assemblies connected to the two movable suction cup modules are respectively connected to different nuts. With such a configuration, when the motor drives the positive and negative thread screw to rotate, the two movable suction cup modules can move at the same time, and the movement directions are opposite.

[0051] refer to Figure 1 As shown, in order to confirm whether the movable suction cup module has reached the accurate position, a photoelectric sensor 26 can be set on the first guide rail 4. The photoelectric sensor 26 can detect the first slider assembly 5 on the first guide rail 4, and transmit the detection signal to the control device to further determine the position of the first slider assembly 5. The photoelectric sensor is equivalent to a travel switch, and the position of the photoelectric sensor on the first guide rail 4 can be manually adjusted to facilitate the movable suction cup module to move different travels, corresponding to the grabbing operation of materials of different sizes.

[0052] On the other hand, reference Figure 1 and Figure 2 As shown, in a possible implementation, the second drive assembly includes: a second guide rail 6 installed on the frame 1 and extending along the second direction, a second slider assembly 7 movably installed on the second guide rail 6 along the second direction, and a second power device for driving the second slider assembly 7 to move, the third drive assembly is installed on the second slider assembly 7, and the side suction module 3 is installed on the third drive assembly. The third drive assembly includes: a third guide rail 8 installed on the second slider assembly 7 and extending along the third direction, a third slider assembly 9 movably installed on the third guide rail 8 along the third direction, and a third power device for driving the third slider assembly 9 to move, and the side suction module 3 is installed on the third slider assembly 9.

[0053] In order to make the second slider assembly move stably in the vertical direction, for example, Figure 1 and Figure 2As shown, the second guide rail 6 can be set as a groove body structure of a guide groove, the guide groove extends in the vertical direction, and the second slider assembly 7 is a vertically arranged rod-shaped structure, one side of the rod-shaped structure has a raised guide bar extending in the vertical direction, and the raised guide bar is embedded in the guide groove and slidably cooperates with the guide groove.

[0054] Continue to refer Figure 1 and Figure 2 As shown, the second guide rail 6 can be set to two, the two second guide rails 6 are arranged along the first direction and spaced apart, the two second slider assemblies 7 on the two second guide rails 6 are connected by a bracket plate, the third drive assembly is installed on the bracket plate, and the bracket plate and the two second slider assemblies 7 are fixedly connected; the third guide rail 8 is set to two, the two third guide rails 8 are arranged along the first direction and spaced apart, the two third slider assemblies 9 on the two third guide rails 8 are connected by a connecting frame 13, the connecting frame 13 and the two third slider assemblies 9 are fixedly connected, and the side suction module 3 is installed on the connecting frame 13.

[0055] As a specific implementation method, Figure 1 and Figure 2 As shown, the second power device can be set as a first cylinder 10, wherein the first cylinder 10 can be a rodless cylinder, the cylinder body of the first cylinder 10 can be extended along the second direction, the first cylinder 10 has a side of the slider facing upward, the slider of the first cylinder 10 is on the top, the slider of the first cylinder 10 can constitute a second slider assembly 7, and the guide rail on the cylinder body can constitute a second guide rail 6. When the second guide rail 6 is set as two, two first cylinders 10 can be set, the two cylinder bodies are arranged in parallel and at intervals, the support plate 12 can be placed on the sliders of the two cylinder bodies, and are fixedly connected to the two sliders respectively, the slider supports the support plate 12, the support is better, so that the load-bearing movement is more stable. Alternatively, the first cylinder 10 is set as a rod cylinder, and the piston rod of the first cylinder 10 extends out of one end of its cylinder body and is connected to the second slider assembly 7, driving the second slider assembly 7 to move.

[0056] like Figure 1 As shown, the third power device can be set as a second cylinder 11, and the second cylinder 11 can be set as a rod cylinder. The second cylinder 11 is used to drive the connecting frame 13 to move. The piston rod of the second cylinder 11 extends out of one end of the cylinder body and is connected to the connecting frame 13. The second cylinder 11 drives the connecting frame 13 to move by the extension and retraction of the piston rod.

[0057] In one possible implementation, Figure 3As shown, the multi-standard material grabbing robot also includes a pneumatic system, which is used to provide inflation or suction to the top suction module 2 and the side suction module 3; and the inflation or suction of the top suction module 2 and the side suction module 3 are independently controlled, and the adsorption states of the top suction module 2 and the side suction module 3 do not affect each other, and the inflation or suction of each top suction module 2 is independently controlled, and the adsorption states of each top suction module 2 do not affect each other, which has better flexibility and is convenient to use.

[0058] Among them, the pneumatic system is connected to the top suction module 2 through a first air circuit, each top suction module 2 is connected to a first air circuit, and each top suction module 2 is connected to the pneumatic system through the first air circuit. A first vacuum generator 14 is arranged on the first air circuit, and a first air pressure sensor is arranged between the first vacuum generator 14 and the top suction module 2; the first vacuum generator 14 can control the adsorption state of the first suction cup in the corresponding top suction module 2, wherein the first air pressure sensor can detect the adsorption state of the first suction cup by detecting the pressure of the gas passing through the top suction module 2.

[0059] Similarly, the pneumatic system is connected to the side suction module 3 through the second air circuit, a second vacuum generator 15 is provided on the second air circuit, and a second air pressure sensor is provided between the second vacuum generator 15 and the side suction module 3. Exemplarily, the side suction module 3 can be set to three, and the three side suction modules 3 are arranged along the first direction, the second suction cups in each side suction module 3 are distributed along the first direction, and two second suction cups can be provided in each side suction module 3; wherein each side suction module 3 is configured with a second vacuum generator 15, and the second vacuum generator 15 can control the adsorption state of the second suction cup in the corresponding side suction module 3, wherein each second vacuum generator 15 is configured with a second air pressure sensor, and the second air pressure sensor can detect the adsorption state of the second suction cup by detecting the pressure of the gas leading to the side suction module 3.

[0060] Further, such as Figure 3As shown, the pneumatic system includes: an air source 16, the air source 16 is used to supply inflation or suction, the air supply port of the air source 16 is connected to the main air path, along the extension direction of the air flow path from the air supply port of the air source 16, the main air path is connected from the air supply port, and a pneumatic triplet 17 is arranged on the main air path, the pneumatic triplet 17 includes a filter, a pressure reducing valve and an oil mist device, which can filter and regulate the gas in the main air path, and then the main air path is divided into two paths, the two paths are the first branch paths connected to the air outlet of the main air path, and the second branch paths are connected to the air outlet of the main air path. A branch air circuit and a second branch air circuit; wherein, for the first branch air circuit, the first branch air circuit is used to meet the inflation or intake requirements of the first cylinder 10 and the second cylinder 11, the first cylinder 10 is connected to the first branch air circuit through a first two-position five-way valve 18, and a first throttle valve 19 is provided at the air inlet and the air outlet of the first cylinder 10; and, the second cylinder 11 is connected to the first branch air circuit through a second two-position five-way valve 20, and a second throttle valve 21 is provided at the air inlet and the air outlet of the second cylinder 11.

[0061] For the second branch air circuit, the second branch air circuit is used to provide inflation or suction needs for the top suction module 2 and the side suction module 3, wherein each top suction module 2 is connected to the second branch air circuit through the first air circuit, the first air circuit and the second branch air circuit are connected through the first two-position three-way valve 22, and each top suction module 2 is independently connected to the second branch air circuit through a two-position three-way valve; the side suction module 3 is connected to the second branch air circuit through the second air circuit, and the second air circuit and the second branch air circuit are connected through the second two-position three-way valve 23, wherein when the side suction module 3 includes multiple, multiple second air circuits are connected to a two-position three-way valve, connected to the second branch air circuit through a two-position three-way valve, and multiple side suction modules 3 are connected to the second branch air circuit through a two-position three-way valve. The setting of the above air circuit structure enables the multi-specification material grabbing manipulator to use only one air source 16 in the entire structure to provide inflation or suction needs for the equipment that needs air supply in the overall structure, saving air source 16 equipment and helping to reduce costs.

[0062] Among them, for the stroke control of the first cylinder and the second cylinder, the first cylinder can be configured to be connected to a first magnetic induction switch, and the second cylinder can be configured to be connected to a second magnetic induction switch, so that the cylinder stroke distance can be accurately controlled so that the corresponding transported materials can have the best transport position.

[0063] In order to detect whether the materials are in the grabbing position of the manipulator, the above-mentioned multi-specification material grabbing manipulator also includes a material detection sensor for detecting the materials; specifically, the material detection sensor includes a diffuse reflection photoelectric sensor, which detects whether the materials to be transported are in the transporting position, and can also detect whether the materials being transported have fallen, thereby ensuring the safety and reliability of the entire transporting process.

[0064] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-standard material grabbing manipulator, characterized in that: include: Frame; At least two top suction modules installed on the frame and arranged along the first direction, each of the top suction modules comprising a top suction module body and a plurality of first suction cups arranged on the bottom side of the top suction module body; wherein at least one of the top suction modules is positionally adjustable along the first direction to form a movable suction cup module; A first driving component for driving the movable suction cup module to move along the first direction; A side suction module, the side suction module is installed on the frame, and is located on one side of at least two sides of the top suction module that is parallel to the first direction, the side suction module comprises: a side suction module body, and at least two second suction cups arranged on one side of the side suction module facing the top suction module; wherein the side suction module is positionally adjustable along the second direction and along the third direction, the second direction is perpendicular to the first direction, the third direction is perpendicular to the first direction, and perpendicular to the second direction; A second driving component for driving the side suction module to move along the second direction; A third driving component is used to drive the side suction module to move along the third direction.

2. The multi-standard material grabbing manipulator according to claim 1 is characterized in that: The first driving assembly includes a first guide rail extending along the first direction, a first slider assembly movably mounted on the first guide rail along the first direction, and a first power device for driving the first slider assembly to move, and the movable suction cup module is mounted on the first slider assembly.

3. The multi-standard material grabbing manipulator according to claim 2 is characterized in that: The first driving assembly includes a linear module, and the linear module includes the first guide rail, a first slider assembly slidably matched with the first guide rail, and a motor for driving the first slider assembly to move.

4. The multi-standard material grabbing manipulator according to any one of claims 1 to 3, characterized in that: The number of top suction modules is three, and the top suction modules located on both sides constitute the movable suction cup modules.

5. The multi-standard material grabbing manipulator according to claim 4 is characterized in that: The two movable suction cup modules move independently, or the two movable suction cup modules move in conjunction with each other.

6. The multi-standard material grabbing manipulator according to claim 1 is characterized in that: The second driving assembly includes: a second guide rail installed on the frame and extending along the second direction, a second slider assembly movably installed on the second guide rail along the second direction, and a second power device for driving the second slider assembly to move, the third driving assembly is installed on the second slider assembly, and the side suction module is installed on the third driving assembly.

7. The multi-standard material grabbing manipulator according to claim 6 is characterized in that: The third driving assembly includes: a third guide rail installed on the second slider assembly and extending along the third direction, a third slider assembly movably installed on the third guide rail along the third direction, and a third power device for driving the third slider assembly to move, and the side suction module is installed on the third slider assembly.

8. The multi-standard material grabbing manipulator according to claim 6 is characterized in that: The second guide rails are provided in two numbers, the two second guide rails are arranged along the first direction and spaced apart, the two second slider assemblies on the two second guide rails are connected via a bracket plate, and the third driving assembly is mounted on the bracket plate.

9. The multi-standard material grabbing manipulator according to claim 7 is characterized in that: The third guide rails are provided in two numbers, the two third guide rails are arranged along the first direction and spaced apart, the two third slider assemblies on the two third guide rails are connected via a connecting frame, and the side suction module is installed on the connecting frame.

10. The multi-standard material grabbing manipulator according to claim 9 is characterized in that: The second power unit includes a first cylinder; The third power device includes a second cylinder, and the second cylinder is used to drive the connecting frame to move.

11. The multi-standard material grabbing manipulator according to claim 10 is characterized in that: It also includes a pneumatic system, which is used to provide inflation or suction to the top suction module and the side suction module; and the inflation or suction of the top suction module and the side suction module are independently controlled, and the inflation or suction of each top suction module is independently controlled; The pneumatic system is connected to the top suction module via a first air circuit, a first vacuum generator is provided on the first air circuit, and a first air pressure sensor is provided between the first vacuum generator and the top suction module; The pneumatic system is connected to the side suction module via a second air circuit, a second vacuum generator is provided on the second air circuit, and a second air pressure sensor is provided between the second vacuum generator and the side suction module.

12. The multi-standard material grabbing manipulator according to claim 11 is characterized in that: The pneumatic system comprises: an air source, the air supply port of the air source is connected to a main air circuit, and a pneumatic triplet is arranged on the main air circuit; wherein the air outlet of the main air circuit is connected to a first branch air circuit and a second branch air circuit; The first cylinder is connected to the first branch gas circuit via a first two-position five-way valve, and a first throttle valve is provided at both the air inlet and the air outlet of the first cylinder; the second cylinder is connected to the first branch gas circuit via a second two-position five-way valve, and a second throttle valve is provided at both the air inlet and the air outlet of the second cylinder; Each of the top suction modules is connected to the second branch gas circuit via the first gas circuit, the first gas circuit and the second branch gas circuit are connected via a first two-position three-way valve, the side suction module is connected to the second branch gas circuit via the second gas circuit, the second gas circuit and the second branch gas circuit are connected via a second two-position three-way valve.

13. The multi-standard material grabbing manipulator according to claim 1 is characterized in that: Also included is a material detection sensor for detecting materials.

14. The multi-standard material grabbing manipulator according to claim 13 is characterized in that: The material detection sensor includes a diffuse reflection photoelectric sensor.

Images