A suction device capable of sucking cartons of different sizes

Abstract

The utility model discloses a suction device that can absorb cartons of different sizes, and the suction device that can absorb cartons of different sizes includes: a suction cup mounting piece; a suction cup assembly, which is arranged on the suction cup mounting piece and is used to absorb the cartons; the suction cup assembly includes a central suction cup assembly and a plurality of groups of peripheral suction cup assemblies arranged on the outside thereof; a detection assembly, which is arranged on the suction cup mounting piece and is used to detect the size of the cartons; a control assembly, the detection assembly is connected with the control assembly signal, the control assembly controls the opening or closing of the central suction cup assembly, and can control the opening or closing of a plurality of groups of peripheral suction cup assemblies according to the detection data of the detection assembly. The above suction device can perform the absorption operation of cartons of different specifications, can accurately absorb according to the size of the cartons, improve the effective utilization efficiency of the suction cup assembly, and reduce unnecessary energy consumption.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics packaging, and more specifically to a suction device capable of sucking cartons of different sizes. Background Art

[0002] With the development of the logistics and packaging industry, more and more factories are introducing robots to replace human labor. Among them, the robot end is equipped with a vacuum suction cup to realize the work mode of depalletizing and stacking cartons. Due to its strong adaptability, automated operation, and reduced labor intensity, it has been widely used in the logistics industry.

[0003] In actual application, the suction cup at the end of the robot is fully open when sucking cartons. However, due to the different sizes of logistics packages, if the suction cup at the end of the robot is fully opened each time, it can completely cover large cartons, but for small cartons, it is possible to suck two or more cartons at the same time, wasting energy and failing to achieve the desired effect.

[0004] In summary, how to provide a suction device suitable for cartons of different specifications is a problem that needs to be urgently solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of the utility model is to provide a suction device that can suck cartons of different sizes, can perform suction operations on cartons of different specifications, can accurately suck according to the size of the cartons, improve the effective utilization efficiency of the suction cup assembly, and reduce unnecessary energy consumption.

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

[0007] A gripper capable of gripping cartons of different sizes, comprising:

[0008] Suction cup mounting;

[0009] A suction cup assembly, provided on the suction cup mounting member, for sucking the carton;

[0010] The suction cup assembly includes a central suction cup assembly and a plurality of peripheral suction cup assemblies arranged outside the central suction cup assembly;

[0011] A detection component, disposed on the suction cup mounting member, for detecting the size of the carton;

[0012] The control component is connected to the detection component by signal, and the control component controls the opening or closing of the central suction cup component, and can control the opening or closing of several groups of the peripheral suction cup components according to the detection data of the detection component.

[0013] Preferably, the central suction cup assembly and the peripheral suction cup assembly are both arranged concentrically with the suction cup mounting member.

[0014] Preferably, the middle portion of the central suction cup assembly is a concentric area, the concentric area is concentrically arranged with the suction cup mounting component and a plurality of main suction cups are arranged in the circumferential direction thereof.

[0015] Preferably, the peripheral suction cup assembly includes auxiliary suction cups, and a plurality of the auxiliary suction cups are symmetrically arranged on both sides of the central suction cup assembly.

[0016] Preferably, the suction cup mounting member includes a first mounting plate, a second mounting plate and a mounting side plate, the first mounting plate and the second mounting plate are both connected to the mounting side plate, the first mounting plate is used to install the vacuum generator, and the second mounting plate is used to install the suction cup assembly connected to the vacuum generator.

[0017] Preferably, the central suction cup assembly and the peripheral suction cup assembly are concentric and arranged on the second mounting plate, at least one of the first mounting plate and the second mounting plate is connected to the side of the robot end mounting part, and the top of the robot end mounting part is higher than the top of the first mounting plate and is used to connect the robot end.

[0018] Preferably, the suction device capable of sucking cartons of different sizes also includes a negative pressure gauge for detecting the negative pressure parameters of the suction cup assembly and a distance sensor for detecting the moving distance of the suction cup assembly. The negative pressure gauge and the distance sensor are both connected to the control component signal.

[0019] The suction device provided by the utility model can absorb cartons of different sizes, including a suction cup mounting part, a suction cup assembly, a detection assembly and a control assembly. The suction cup assembly is arranged on the suction cup mounting part and is used to absorb cartons; the suction cup assembly includes a central suction cup assembly and a peripheral suction cup assembly arranged outside the central suction cup assembly; the detection assembly is used to detect the size of the carton and is connected to the control assembly signal, the detection assembly can transmit the size of the carton to the control assembly, the control assembly can control the opening or closing of the central suction cup assembly, and can control the opening or closing of several groups or all peripheral suction cup assemblies according to the size of the carton, for example, when absorbing small-sized cartons, only the central suction cup assembly can be opened, thereby the suction cup assembly can be opened in a targeted manner to adapt to the absorption operation of cartons of different specifications, reduce unnecessary energy consumption, and improve the effective utilization efficiency of the suction cup assembly. The method provided by the utility model is not only applicable to cartons, but also to boxes of other materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0021] Figure 1 A schematic diagram of the structure of a suction device capable of sucking cartons of different sizes provided by the utility model;

[0022] Figure 2 for Figure 1 A front view of

[0023] Figure 3 A schematic diagram of the structure of the suction cup assembly provided by the utility model;

[0024] Figure 4 for Figure 3 A front view of

[0025] Figure 5 for Figure 3 A top view of

[0026] Figure 6 This is a schematic structural diagram of the peripheral suction cup assembly provided by the utility model.

[0027] Figure 1-Figure 6 , the reference numerals include:

[0028] Suction cup assembly 1, mounting side plate 2, first mounting plate 3, second mounting plate 4, robot end mounting part 5;

[0029] Central suction cup assembly 11 , peripheral suction cup assembly 12 , and concentric area 111 . DETAILED DESCRIPTION

[0030] 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.

[0031] The core of the utility model is to provide a suction device that can suck cartons of different sizes, specifically a suction device system that can suck cartons of different sizes, which can perform suction operations on cartons of different specifications, can accurately suck according to the size of the cartons, improve the effective utilization efficiency of the suction cup assembly, and reduce unnecessary energy consumption.

[0032] The suction device provided by the utility model that can suck cartons of different sizes includes a suction cup mounting part, a suction cup assembly 1, a detection assembly, and a control assembly. Please refer to Figures 1 to 6 .

[0033] The suction cup mounting piece is a mounting carrier of the suction cup assembly 1 , and is based on being able to be firmly connected to the suction cup assembly 1 . There is no restriction on its structural form, and it can be a plurality of detachably connected parts, or an integrally formed part.

[0034] The suction cup assembly 1 is arranged on the suction cup mounting part, and the suction cup assembly 1 is used in conjunction with at least a vacuum device and a vacuum generator connected thereto. The specific arrangement positions of the vacuum device and the vacuum generator are not limited, and the connection with the suction device and no interference with the movement of the suction device are ensured. Specifically, the vacuum device is used to provide a vacuum and is connected to the inner cavity of the suction cup through the vacuum generator, and a negative pressure is generated in the suction cup through vacuum suction, so as to firmly adsorb the carton.

[0035] Please refer to Figures 3 to 6 The suction cup assembly 1 includes a central suction cup assembly 11 and a plurality of peripheral suction cup assemblies 12 arranged outside the central suction cup assembly 11. The peripheral suction cup assemblies 12 can be arranged in a circle on the periphery of the central suction cup assembly 11 or in rows and columns on the periphery of the central suction cup assembly 11.

[0036] The peripheral suction cup assembly 12 is arranged on the periphery of the central suction cup assembly 11 to form a larger suction range together, corresponding to larger-sized cartons.

[0037] The detection component is arranged on the suction cup mounting part and is used to detect the size of the carton. The detection component can use 3D vision technology to take a picture of the carton and analyze the size of the carton. The detection component is connected to the control component by signal. The detection component can timely transmit the detection data to the control component. The control component can timely give feedback and control the opening of the central suction cup component 11 and the closing of the peripheral suction cup component 12 according to the size to adapt to small-sized cartons, or control the opening of the central suction cup component 11 and several groups or all peripheral suction cup components 12 to adapt to large-sized cartons.

[0038] In this embodiment, when there are multiple groups of peripheral suction cup assemblies 12, the control assembly can independently control the opening and closing of the peripheral suction cup assemblies 12 of any group.

[0039] The manner in which the control component controls the opening or closing of the central suction cup component 11 and the peripheral suction cup component 12 is not limited here, and may be through one or more switch components.

[0040] As a preferred embodiment, the center of the central suction cup assembly 11 is aligned with the center of the carton before the adsorption operation can be performed. Regardless of the size of the carton, the central suction cup assembly 11 must be opened during the adsorption operation to achieve a firm adsorption of the middle of the carton to avoid the risk of it falling.

[0041] In this embodiment, the position information of the central suction cup assembly 11 and the peripheral suction cup assembly 12 is stored in the control assembly in advance, so that the control assembly can make feedback in time according to the detection data of the detection assembly.

[0042] The gripper system provided by the present invention should also include a robot end mounting portion 5 connected to the suction cup mounting piece to achieve connection with the robot end, so as to realize the movement and transfer of the gripper system through the robot.

[0043] It should be noted that the cartons may also be boxes made of other materials, and the suction device provided by the utility model may be applied to carry out suction operations on boxes of different specifications.

[0044] The above-mentioned suction device that can suck cartons of different sizes includes a suction cup mounting part, a suction cup assembly 1, a detection assembly and a control assembly. The suction cup assembly 1 is arranged on the suction cup mounting part for sucking cartons; the suction cup assembly 1 includes a central suction cup assembly 11 and a peripheral suction cup assembly 12 arranged on the outside thereof; the detection assembly is used to detect the size of the carton and is connected to the control assembly signal. The detection assembly can transmit the size of the carton to the control assembly. The control assembly can open the central suction cup assembly 11 separately according to the size of the carton, close several groups of peripheral suction cup assemblies 12, or control the opening of the central suction cup assembly 11 and several groups of peripheral suction cup assemblies 12 to perform suction operations on cartons of different specifications. The suction can be accurately performed according to the size of the carton, thereby improving the effective utilization efficiency of the suction cup assembly and reducing unnecessary energy consumption.

[0045] On the basis of the above-mentioned embodiment, the central suction cup assembly 11 and any group of peripheral suction cup assemblies 12 are provided with solenoid valves for controlling the opening and closing thereof, and the solenoid valves are connected with the control assembly signals.

[0046] The central suction cup assembly 11 and any group of peripheral suction cup assemblies 12 are provided with solenoid valves for controlling their opening and closing. The solenoid valves are connected to the control assembly signal. The control assembly controls the solenoid valves to open or close so that the vacuum equipment transmits negative pressure to the corresponding suction cup assembly 1 through the vacuum generator or cuts off the vacuum transmission between the vacuum equipment and the suction cup assembly 1.

[0047] The detection component can transmit the detection data to the control component in time, and the control component can give feedback in time, and control the opening of the solenoid valve of the central suction cup component 11 and the closing of several groups of peripheral suction cup components 12 according to the size of the carton to adapt to small-sized cartons, or control the opening of the solenoid valves on the central suction cup component 11 and several peripheral suction cup components 12 to adapt to large-sized cartons.

[0048] It should be noted that the solenoid valves provided on any peripheral suction cup assembly 12 are individually controlled by the control assembly, and one or several solenoid valves can be opened according to the size of the carton.

[0049] Based on any of the above embodiments, the central suction cup assembly 11 and the peripheral suction cup assembly 12 are both arranged concentrically with the suction cup mounting member.

[0050] Please refer to Figure 5 , Figure 6 , the central suction cup assembly 11 is Figure 4 The part enclosed by the dotted line, Figure 5 Remove the content in the dotted box in the middle. Figure 6 , Figure 6 All peripheral suction cup components 12 can be displayed.

[0051] The central suction cup assembly 11 and the peripheral suction cup assembly 12 are both arranged concentrically with the suction cup mounting member, that is, a plurality of groups of peripheral suction cup assemblies 12 surround the periphery of the central suction cup assembly 11 to form adsorption ranges of various sizes corresponding to cartons of different specifications, thereby improving the applicability of the suction system and reducing energy consumption.

[0052] In this embodiment, there is no restriction on the distribution of the suction cups in the central suction cup assembly 11 and the peripheral suction cup assembly 12, and they can be evenly distributed or unevenly distributed according to actual operation requirements.

[0053] Based on any of the above embodiments, the middle portion of the central suction cup assembly 11 is a concentric area 111 that is concentric with the suction cup mounting member, and a plurality of main suction cups are arranged on the circumference of the concentric area 111 .

[0054] Please refer to Figure 5 The middle of the central suction cup assembly 11 is a concentric area 111, which corresponds to the middle position of the second mounting plate 4. A plurality of main suction cups are arranged on the circumference of the concentric area 111. Figure 5 As shown in the figure, the central suction cup assembly 11 includes 3 rows of main suction cups and a circle of suction cups outside the 3 rows of main suction cups. The 3 rows of main suction cups are symmetrically arranged. There is a gap in the middle of the main suction cups in the middle row. The gap and the outer edges of the main suction cups in the upper and lower rows together form a concentric area 111. Figure 5 From the perspective of FIG. 1 , the concentric area 111 is formed by the partial outer arcs of the six main suction cups.

[0055] Optionally, the central suction cup assembly 11 may also include 4 groups (for example, 4 rows), 5 groups (for example, 5 rows) or other multiple groups of main suction cups, and can be flexibly designed according to actual needs.

[0056] On the basis of any of the above embodiments, the peripheral suction cup assembly 12 includes auxiliary suction cups, and a plurality of auxiliary suction cups can be symmetrically arranged on both sides of the central suction cup assembly 11 .

[0057] Please refer to Figure 5 The sizes of the main suction cup and the auxiliary suction cup can be the same or different, depending on the actual application requirements.

[0058] Multiple auxiliary suction cups are symmetrically arranged on both sides of the central suction cup assembly 11 to form a group of peripheral suction cup assemblies 12 to ensure the uniformity of the adsorption force. As a preferred embodiment, multiple auxiliary suction cups are evenly distributed around the central suction cup assembly 11 or on opposite sides.

[0059] As a preferred embodiment, the spacing between two adjacent groups of peripheral suction cup assemblies 12 can be equal, so as to facilitate statistical analysis of the adsorption range formed by the corresponding one or several groups of suction cup assemblies 1, and the corresponding specifications of cartons that can be adsorbed.

[0060] Based on any of the above embodiments, the suction cup mounting member includes a first mounting plate 3, a second mounting plate 4 and a mounting side plate 2, the first mounting plate 3 and the second mounting plate 4 are both connected to the mounting side plate 2, the first mounting plate 3 is used to install the vacuum generator, and the second mounting plate 4 is used to install the suction cup assembly 1 connected to the vacuum generator.

[0061] Please refer to Figure 1 , Figure 2 The first mounting plate 3 and the second mounting plate 4 are arranged in parallel and both are connected to the mounting side plate 2 to form a frame-type suction cup mounting member.

[0062] The first mounting plate 3 is arranged on the upper side of the second mounting plate 4. The first mounting plate 3 is used to install the vacuum generator. The second mounting plate 4 is used to install the suction cup assembly that is connected to the vacuum generator in a one-to-one correspondence. The vacuum generator can be connected to the inner cavity of the manifold to achieve the effect of being connected to the inner cavity of each group of suction cup assemblies 1, so as to achieve the effect of the suction cup assembly 1 adsorbing the carton through the negative pressure. Preferably, the manifold is arranged on the first mounting plate 3.

[0063] Based on any of the above embodiments, the central suction cup assembly 11 and the peripheral suction cup assembly 12 are concentric and arranged on the second mounting plate 4, at least one of the first mounting plate 3 and the second mounting plate 4 is connected to the side of the robot end mounting part 5, and the top of the robot end mounting part 5 is higher than the top of the first mounting plate 3 and is used to connect the robot end.

[0064] Please refer to Figure 1 , Figure 2 , Figure 5 The peripheral suction cup assembly 12 and the central suction cup assembly 11 are both concentric and arranged on the second mounting plate 4, and at least one of the first mounting plate 3 and the second mounting plate 4 is connected to the side of the robot end mounting part 5 to fix and support the robot end mounting part 5. Preferably, both the first mounting plate 3 and the second mounting plate 4 are connected to the side of the robot end mounting part 5.

[0065] The top of the robot end mounting portion 5 is higher than the top of the first mounting plate 3 and is used to connect the robot end. The entire movement of the gripper system is achieved through the connection between the robot end and the robot end mounting portion 5.

[0066] Based on any of the above embodiments, a protective cover is provided on the suction cup mounting piece, and the suction cup assembly 1 is arranged in the protective cover.

[0067] The protective cover is arranged on the suction cup mounting part, and the specific location and size are not limited. The protective cover is used to protect the suction cup assembly 1 and the vacuum generator and other components inside it, so as to avoid damage to the suction cup during use and ensure the service life of the suction cup. The specific structure of the protective cover is not limited and is defined according to the overall arrangement and layout of the suction cup assembly 1 used.

[0068] Based on any of the above embodiments, the gripper system also includes a negative pressure gauge for detecting the negative pressure parameters of the suction cup assembly 1 and a distance sensor for detecting the moving distance of the suction cup assembly 1. The negative pressure gauge and the distance sensor are both connected to the control assembly signal.

[0069] The negative pressure gauge and distance sensor can be set on the protective cover or the suction cup mounting part or other positions, whichever can achieve the working effect without restriction.

[0070] The negative pressure meter can timely collect statistics on the negative pressure parameters of the suction cup assembly 1 when adsorbing cartons and feed them back to the control component. The control component can analyze whether the statistical data is reasonable based on the statistical data and determine whether the suction cup assembly 1 is damaged so as to perform maintenance in time.

[0071] The distance sensor is used to detect the moving distance of the suction cup assembly 1 and transmit the data to the control assembly. The suction cup assembly 1 must stop in time when it moves to the set distance and reaches the carton to avoid insufficient or excessive movement that affects the use effect of the suction cup assembly 1.

[0072] Next, the adsorption method of the suction device that can absorb cartons of different sizes disclosed in the above embodiment is introduced, and the adsorption method includes:

[0073] The detection component detects the size of the carton and transmits the detection information to the control component;

[0074] After receiving the detection information, the control component controls the central suction cup component 11 to open, and controls several groups or all peripheral suction cup components 12 to close to absorb the carton;

[0075] Or, after receiving the detection information, the control component controls the central suction cup component 11 to open, and controls several groups or all peripheral suction cup components 12 to open to absorb the cartons.

[0076] The control component controls the central suction cup component 11 to open, and controls several groups or all peripheral suction cup components 12 to open or close to achieve the setting of different adsorption ranges, so that the suction system provided by the utility model can be adapted to cartons of various sizes, improve applicability, and reduce unnecessary energy consumption.

[0077] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0078] The above is a detailed introduction to a suction device that can suck cartons of different sizes provided by the utility model. This article uses specific examples to illustrate the principle and implementation method of the utility model. The description of the above embodiment is only used to help understand the method and core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. A suction device capable of sucking cartons of different sizes, characterized in that: include: Suction cup mounting; A suction cup assembly (1), arranged on the suction cup mounting member, and used for sucking the carton; The suction cup assembly (1) comprises a central suction cup assembly (11) and a plurality of groups of peripheral suction cup assemblies (12) arranged outside the central suction cup assembly (11); A detection component, disposed on the suction cup mounting member, for detecting the size of the carton; A control component, wherein the detection component is connected to the control component by signal, and the control component controls the opening or closing of the central suction cup component (11), and can control the opening or closing of a plurality of groups of peripheral suction cup components (12) according to the detection data of the detection component.

2. The suction device capable of sucking cartons of different sizes according to claim 1 is characterized in that: The central suction cup assembly (11) and any group of the peripheral suction cup assemblies (12) are both provided with electromagnetic valves for controlling their opening and closing, and the electromagnetic valves are connected to the control assembly signals.

3. The suction device capable of sucking cartons of different sizes according to claim 2 is characterized in that: The central suction cup assembly (11) and the peripheral suction cup assembly (12) are both arranged concentrically with the suction cup mounting member.

4. The suction device capable of sucking cartons of different sizes according to claim 3 is characterized in that: The middle part of the central suction cup assembly (11) is a concentric area (111), and the concentric area (111) is arranged concentrically with the suction cup mounting member and has a plurality of main suction cups arranged in the circumferential direction thereof.

5. The suction device capable of sucking cartons of different sizes according to claim 4 is characterized in that: The peripheral suction cup assembly (12) comprises auxiliary suction cups, and a plurality of the auxiliary suction cups are symmetrically arranged on both sides of the central suction cup assembly (11).

6. The suction device capable of sucking cartons of different sizes according to claim 5 is characterized in that: The suction cup mounting member comprises a first mounting plate (3), a second mounting plate (4) and a mounting side plate (2); the first mounting plate (3) and the second mounting plate (4) are both connected to the mounting side plate (2); the first mounting plate (3) is used for mounting a vacuum generator; and the second mounting plate (4) is used for mounting the suction cup assembly (1) connected to the vacuum generator.

7. The suction device capable of sucking cartons of different sizes according to claim 6 is characterized in that: The central suction cup assembly (11) and the peripheral suction cup assembly (12) are concentric and arranged on the second mounting plate (4); at least one of the first mounting plate (3) and the second mounting plate (4) is connected to the side of the robot end mounting part (5); the top of the robot end mounting part (5) is higher than the top of the first mounting plate (3) and is used to connect the robot end.

8. The suction device capable of sucking cartons of different sizes according to any one of claims 1 to 7, characterized in that: The suction device capable of sucking cartons of different sizes further comprises a negative pressure gauge for detecting the negative pressure parameters of the suction cup assembly (1) and a distance sensor for detecting the moving distance of the suction cup assembly (1); the negative pressure gauge and the distance sensor are both connected to the control assembly signal.

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