Vacuum suction tool capable of solving problem of old paper box with concave and groove on surface

Abstract

The utility model discloses a vacuum suction tool capable of solving the problem of old cartons with recesses and grooves in the surfaces. The vacuum suction tool capable of solving the problem of old cartons with recesses and grooves in the surfaces comprises a mounting frame; the at least two sets of suction cup assemblies are arranged on the mounting frame and used for adsorbing products; the sucker assembly comprises a sucker with a sponge layer at the bottom; vacuum circulation cavities are formed in the telescopic assemblies, one ends of the vacuum circulation cavities communicate with the vacuum generator, the other ends of the vacuum circulation cavities communicate with the suction cups, each suction cup assembly corresponds to one telescopic assembly, and each telescopic assembly can independently move up and down so that the sponge layers of the suction cups can be attached to the surfaces of the products to conduct adsorption operation. According to the vacuum suction tool, precise suction can be achieved, and the suction effect under the conditions of wrinkles, deformation and unevenness of the surface of a product is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics, and more specifically to a vacuum suction device which can remove old paper boxes with depressions and grooves on the surface. Background Art

[0002] In the logistics industry, the robot end is often used in conjunction with a vacuum gripper to perform palletizing and unpalletizing operations to absorb and transfer products with a flat surface without depressions. However, in actual operations, due to the different finished products or the excessively high stacking height, the product surface will be uneven, depressed, and wrinkled. The vacuum gripper in the relevant technology has a consistent suction height during operation and is not suitable for such products.

[0003] In summary, how to provide a vacuum gripper that can absorb concave and uneven surfaces is a problem that needs to be solved urgently by those skilled in the art. Utility Model Content

[0004] In view of this, the purpose of the utility model is to provide a vacuum suction device that can solve the problem of old cartons with depressions and grooves on the surface, which can achieve precise suction and ensure the suction effect when the product surface is wrinkled, deformed, and uneven.

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

[0006] A vacuum gripper that can handle old cartons with dents and grooves on the surface, including:

[0007] Mounting frame;

[0008] Suction cup assemblies, at least two groups of the suction cup assemblies are arranged on the mounting frame, and are used to absorb products;

[0009] The suction cup assembly comprises:

[0010] Suction cup with a sponge layer at the bottom;

[0011] The telescopic component has a vacuum circulation cavity inside, one end of the vacuum circulation cavity is used to communicate with the vacuum generator, and the other end of the vacuum circulation cavity is connected to the suction cup. Each group of suction cup components corresponds to a group of telescopic components, and each group of telescopic components can be moved up and down independently to make the sponge layer of the suction cup fit with the surface of the product for adsorption operation.

[0012] Preferably, at least two sponge layers are connected to the bottom of the suction cup, and the sponge layers are provided with a plurality of small holes for ventilation.

[0013] Preferably, the telescopic assembly includes a telescopic rod with the vacuum circulation cavity provided therein and a reset spring sleeved on the outside of the telescopic rod, the first end of the telescopic rod extends out of the mounting frame, the second end of the telescopic rod is connected to the suction cup, and when the telescopic rod moves upward to drive the suction cup to adsorb and transfer the product, the reset spring is compressed.

[0014] Preferably, a connecting pipe is provided on the top of the telescopic assembly, the connecting pipe is connected to the mounting frame, and the telescopic rod is movably disposed in an inner cavity of the connecting pipe.

[0015] Preferably, the connecting tube is connected to the mounting bracket via a guide sleeve, both ends of the telescopic rod are columns and the diameter of the column at the second end of the telescopic rod is larger than the diameter of the column at the first end of the telescopic rod, one end of the return spring abuts against the bottom plane of the guide sleeve, and the other end of the return spring abuts against the top plane of the column at the second end of the telescopic rod.

[0016] Preferably, the vacuum gripper further comprises a control component and a moving component, wherein the moving component is used to drive the telescopic component and is signal-connected to the control component.

[0017] Preferably, a distance sensor is provided on the mounting frame, and the distance sensor is connected to the control component signal and is used to detect the compression amount of the suction cup.

[0018] Preferably, a photoelectric sensor is also provided on the mounting frame, and the photoelectric sensor is connected to the control component signal and is used to detect whether the product on the suction cup falls off.

[0019] Preferably, a safety valve for cutting off compressed air is provided in the suction cup, and the safety valve is signal-connected to the control component.

[0020] The utility model provides a vacuum suction device for old cartons with depressions and grooves on the surface, comprising a mounting frame, a suction cup assembly, the suction cup assembly comprising a suction cup and a telescopic assembly, and each group of suction cup assemblies corresponds to a group of telescopic assemblies; a vacuum generator is arranged on the mounting frame, and a vacuum circulation cavity is provided inside the telescopic assembly, one end of the vacuum circulation cavity is connected to the vacuum generator, and the other end is connected to the suction cup, and the negative pressure generated by the vacuum generator is provided to the suction cup to generate suction, and the product is adsorbed by the suction; a sponge layer is provided at the bottom of the suction cup, and each group of telescopic assemblies can be moved up and down to make the sponge layer at the bottom of the suction cup connected thereto fit with the surface of the product for adsorption operation, and the sponge layer is compressible and deformable, and can have a better fit with the surface of the product; in the case where the surface of the product is uneven, wrinkled or deformed, at least two groups of suction cup assemblies can reach different heights of the product as needed through the arrangement of the telescopic assembly and the suction cup sponge layer, so as to achieve precise adsorption and ensure the adsorption effect in the case of wrinkles, deformation and unevenness of the product surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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.

[0022] Figure 1 A schematic diagram of the structure of the vacuum suction device provided by the utility model for removing old cartons with depressions and grooves on the surface;

[0023] Figure 2 A front view of the vacuum suction device provided by the utility model which can solve the problem of old cartons with depressions and grooves on the surface;

[0024] Figure 3 A schematic diagram of the structure of the suction cup assembly provided by the utility model;

[0025] Figure 4 for Figure 3 Front view of .

[0026] Figure 1-Figure 4 , the reference numerals include:

[0027] Connecting pipe 1, fastener 2, guide sleeve 3, return spring 4, telescopic rod 5, suction cup 6, mounting frame 7, photoelectric sensor 8, mounting plate 9. DETAILED DESCRIPTION

[0028] 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.

[0029] The core of the utility model is to provide a vacuum suction device that can solve the problem of old cartons with dents and grooves on the surface. When the product surface is uneven, wrinkled or deformed, at least two groups of suction cup components can reach different heights of the product as needed through the arrangement of a telescopic component and a suction cup sponge layer, so as to achieve precise adsorption and ensure the adsorption effect when the product surface is wrinkled, deformed, and uneven.

[0030] The vacuum suction device provided by the utility model can solve the problem of old cartons with depressions and grooves on the surface, including a mounting frame 7 and a suction cup assembly. Please refer to Figures 1 to 4 .

[0031] In addition, the vacuum suction device provided by the utility model should also include a vacuum generator and a vacuum device. The vacuum generator and the vacuum device can be arranged on a mounting frame 7 or other supporting frame. The vacuum device provides compressed air to the vacuum generator, and the vacuum generator generates negative pressure, so that the suction cup 6 of the suction cup assembly generates negative pressure to adsorb the product. There is no restriction on the specific setting positions of the vacuum generator and the vacuum device on the mounting frame 7 or the supporting frame, but it should be noted that each suction cup 6 corresponds to a vacuum generator.

[0032] At least two groups of suction cup assemblies are arranged on the mounting frame 7, and are used to absorb the product, which can be a box, glass or other items to be transferred, and the box can be a carton or other material box. The arrangement and setting positions of the two or more groups of suction cup assemblies are not limited in this embodiment, and are subject to actual operation requirements, and at least one group of suction cup assemblies is ensured to be arranged in the middle of the mounting frame 7 to ensure the stability of the absorption operation.

[0033] The suction cup assembly includes a suction cup 6 and a telescopic assembly. A sponge layer is provided at the bottom of the suction cup 6. During the adsorption operation, the sponge layer can be compressed and deformed so that the suction cup 6 can form a close fit with the surface of the product.

[0034] A vacuum flow cavity is provided in the telescopic assembly, and the vacuum generator and the suction cup 6 are both connected to the vacuum flow cavity. Specifically, the top of the telescopic assembly is connected to the vacuum generator, and the bottom of the telescopic assembly is connected to the suction cup 6. Each set of suction cup assemblies is corresponding to a set of telescopic assemblies, and each set of telescopic assemblies can be moved up and down independently so that the sponge layer at the bottom thereof fits the surface of the product for adsorption.

[0035] In this embodiment, the independent up and down movement of each group of telescopic components can be achieved by multiple groups of linear drive mechanisms correspondingly driving the multiple groups of telescopic components respectively, or the telescopic components can be moved upward by the reverse pressure when the suction cup 6 is pressed down to contact the product.

[0036] Each set of telescopic components can be moved up and down independently, and cooperate with the sponge layer on the suction cup 6 at the bottom of the telescopic component to ensure accurate and effective adsorption effect, thereby preventing the product from slipping during the transfer process and causing safety accidents.

[0037] When the surface of the product is wrinkled, deformed or uneven, since each set of telescopic components can be moved independently to make the suction cup 6 connected to the telescopic component drop to a certain height, at least two sets of suction cup components on the mounting frame 7 can be dropped to different heights, so that the sponge layers at the bottom can fit with different heights of the product for adsorption operation, thereby ensuring the applicability of the vacuum suction device when handling products with uneven, wrinkled or deformed surfaces and ensuring the adsorption effect.

[0038] The vacuum suction device provided by the utility model can solve the problem of old cartons with dents and grooves on the surface, and can also include a control element and a distance sensing element to detect the moving distance of each set of suction cup components. In addition, please refer to Figure 1 The vacuum gripper also includes a mounting member 9 for mounting on the end of the robot to achieve the transfer of the vacuum gripper as a whole. The mounting member 9 is connected to the upper side of the mounting frame 7 and its specific structure is matched with the end of the robot matched with the vacuum gripper, and no excessive restrictions are made here.

[0039] The vacuum suction device comprises a mounting frame 7 and a suction cup assembly, wherein the suction cup assembly comprises a suction cup 6 and a telescopic assembly, and each group of suction cup assemblies corresponds to a group of telescopic assemblies; a vacuum circulation chamber is arranged in the telescopic assembly, one end of the vacuum circulation chamber is connected to the vacuum generator, and the other end is connected to the suction cup 6, and the negative pressure generated by the vacuum generator is provided to the suction cup 6 to generate suction, and the product is adsorbed by the suction; a sponge layer is arranged at the bottom of the suction cup 6, and each group of telescopic assemblies can move up and down so that the sponge layer at the bottom thereof can be fitted with the surface of the product for adsorption operation, and the sponge layer is compressible and deformable, and can have a better fit with the surface of the product, and can adapt to the curved surface or inclined surface caused by deformation of the product surface; in the case where the surface of the product is uneven, wrinkled or deformed, at least two groups of suction cup assemblies can reach different heights of the product as needed through the arrangement of the telescopic assembly and the suction cup sponge layer, and each group of telescopic assemblies can adapt to the height difference of the product surface to achieve precise adsorption, and ensure the adsorption effect when the surface of the product is wrinkled, deformed, or uneven.

[0040] On the basis of the above embodiment, at least two sponge layers are connected to the bottom of the suction cup 6, and a plurality of small holes for ventilation are provided on the sponge layers.

[0041] Please refer to Figure 3 , Figure 4 At least two sponge layers are connected to the bottom of the suction cup 6, and the number of layers can be designed according to actual needs. A plurality of small holes for ventilation are provided on the sponge layer. When the negative pressure generated by the vacuum generator is sent to the suction cup 6, the negative pressure air will quickly pass through the small holes to perform the product adsorption operation.

[0042] The sponge layer is provided with at least two layers, and has good elasticity. When the sponge layer is in contact with the surface of the product, it can have a greater compression amount, so as to better wrap the product with concave, wrinkled and deformed surface, and ensure the accurate adsorption of the product.

[0043] Based on any of the above embodiments, the telescopic assembly includes a telescopic rod 5 with a vacuum circulation cavity inside and a reset spring 4 sleeved on the outside of the telescopic rod 5, the first end of the telescopic rod 5 extends out of the mounting frame 7, and the second end of the telescopic rod 5 is connected to the suction cup 6. When the telescopic rod 5 moves upward to drive the suction cup 6 to absorb and transfer the product, the reset spring 4 is compressed.

[0044] Please refer to Figure 2 The telescopic rod 5 is a component that can move up and down and has a vacuum circulation cavity inside. The first end of the telescopic rod 5 extends out of the mounting frame 7, and the second end is connected to the suction cup 6. A reset spring 4 is sleeved on the outer side of the telescopic rod 5. The reset spring 4 is mainly used for the rapid reset of the telescopic rod 5. The specific model, size, etc. can be designed in combination with actual needs, and there are no excessive restrictions here.

[0045] Optionally, one end of the reset spring 4 needs to abut against the second end of the telescopic rod 5, and the other end of the reset spring 4 can abut against the bottom of the mounting frame 7, or can abut against other components fixedly mounted on the mounting frame 7, as long as it is ensured that when the telescopic rod 5 moves upward, the reset spring 4 can be squeezed through this movement to achieve a quick reset effect of the telescopic rod 5.

[0046] When the telescopic rod 5 moves downward to perform the adsorption operation, the return spring 4 is in the original or stretched state; when the telescopic rod 5 completes the adsorption operation and drives the product to move upward for transfer, the return spring 4 is compressed; after the product transfer is completed, the return spring 4 uses its own elastic force to assist the telescopic rod 5 to quickly return to the original state. Figure 2 In terms of location.

[0047] It should be noted that when the suction cup 6 contacts the product surface and uses negative pressure to start sucking the product surface at a higher position, when the suction cup 6 is compressed to the limit compression amount, it can be compressed by the return spring 4 to provide a certain compression compensation, thereby ensuring that the suction cup 6 can adapt to product surfaces with different height differences and ensure reliable suction of the product.

[0048] On the basis of any of the above embodiments, a connecting pipe 1 is provided on the top of the telescopic assembly, the connecting pipe 1 is connected to the mounting frame 7 , and the telescopic rod 5 is movably disposed in the inner cavity of the connecting pipe 1 .

[0049] The connecting pipe 1 is a joint structure. A connecting pipe 1 is provided on the top of each telescopic assembly. The connecting pipe 1 is fixedly connected to the mounting frame 7 to achieve reliable support. The telescopic rod 5 is movably arranged in the inner cavity of the connecting pipe 1, and space for the telescopic rod 5 to move is provided through the connecting pipe 1.

[0050] The vacuum flow cavity of the telescopic rod 5 is correspondingly connected with the vacuum generator and the suction cup 6. When the telescopic rod 5 moves downward in the inner cavity of the connecting tube 1, the negative pressure in the suction cup 6 causes the sponge layer at the bottom to contact the product to perform the adsorption operation.

[0051] On the basis of any of the above embodiments, a guide sleeve 3 is provided at the lower end of the connecting tube 1, and the connecting tube 1 is connected to the mounting frame 7 through the guide sleeve 3. Both ends of the telescopic rod 5 are columns and the diameter of the column at the second end of the telescopic rod 5 is larger than the diameter of the column at the first end. One end of the reset spring 4 abuts against the bottom plane of the guide sleeve 3, and the other end of the reset spring 4 abuts against the top plane of the column at the second end of the telescopic rod 5.

[0052] The setting of the guide sleeve 3 can provide a certain guide operation for the movement of the telescopic rod 5, avoiding its deviation during the up and down movement, resulting in the suction cup 6 running off the track and failing to adsorb the product when adsorbing the product, and the compressed air doing ineffective work, thereby improving the accuracy and effectiveness of the adsorption operation.

[0053] The specific structure and number of the guide sleeves 3 are not limited, as long as they can provide a guiding function.

[0054] The guide sleeve 3 can be directly fixed on the mounting frame 7 (the fixing method can be welding, clamping, etc.), or fixed on the mounting frame 7 through a connecting piece. The connecting pipe 1 is connected to the mounting frame 7 through the guide sleeve 3, and the telescopic rod 7 can move up and down along the height direction of the guide sleeve 3, ensuring the reliable connection between the guide sleeve 3 and the mounting frame 7, and thus ensuring the stability and reliability of the connection between the connecting pipe 1 and the vacuum generator, and ensuring the stability of the telescopic rod 5 when it moves up and down.

[0055] The diameter of the second end of the telescopic rod 5 is greater than the diameter of the first end thereof. Figure 3 The telescopic rod 5 is a columnar structure as a whole. The diameter of the second end column (i.e., the end connected to the suction cup 6) is larger than the diameter of the first end column (the end extending out of the mounting frame 7). It is mainly used to form abutment between the two ends of the return spring 4 between the bottom plane of the guide sleeve 3 and the top plane of the second end column of the telescopic rod 5.

[0056] On the basis of any of the above embodiments, a fastener 2 is provided on the outer side of the guide sleeve 3 for fixing the guide sleeve 3 on the mounting frame 7 .

[0057] Please refer to Figure 3 , Figure 4 The fastener 2 and the guide sleeve 3 are preferably threadedly connected, and the guide sleeve 3 passes through the through hole on the mounting frame 7 and is fixed on the mounting frame 7 by the fastener 2. The fastener 2 can be a nut, a nut washer or other.

[0058] The upper and lower sides of the guide sleeve 3 are both provided with fasteners 2, and the guide sleeve 3 is fixed to the mounting frame 7 by the fasteners 2, which can ensure the stability of the guide sleeve 3 during the adsorption operation and ensure the accuracy of the movement of the telescopic component.

[0059] Based on any of the above embodiments, the vacuum gripper further includes a control component and a moving component, wherein the moving component is used to drive the telescopic component and is connected to the control component by signal.

[0060] The moving component is the element that provides power for the telescopic component to move up and down, and can be a cylinder, a motor or other. The start and stop of the moving component is controlled by the control component to control the precise movement of the telescopic component within the working range, thereby ensuring the precise adsorption operation of the suction cup 6.

[0061] Optionally, there is no restriction on the specific locations of the moving component and the control component. For example, the moving component can be arranged on the mounting frame 7, and the control component can be arranged on the circumference of the mounting frame 7 and electrically connected to the moving component, as long as the moving component can drive the precise movement of the telescopic component and there is no interference between the components.

[0062] Optionally, a distance sensor or a speed sensor may be provided on the telescopic component or the mounting frame 7, and information may be fed back to the control component so that the operation information of the vacuum gripper can be obtained in a timely manner.

[0063] On the basis of any of the above embodiments, a distance sensor is provided on the mounting frame 7 , and the distance sensor is connected to the control component signal and is used to detect the compression amount of the suction cup 6 .

[0064] When the suction cup assembly is performing adsorption operation, in order to avoid damage caused by excessive compression of the suction cup 6 and ensure its operation safety and service life, several groups of distance sensors can be set on the mounting frame 7. The distance sensors can timely detect the compression amount of the suction cup 6 and feed back the detection information to the control assembly. The control assembly can take relevant actions in time according to the information detected by the distance sensor, such as shutting down the moving assembly, controlling the operating speed of the moving assembly, etc.

[0065] In this embodiment, at least two groups of suction cup assemblies are symmetrically arranged on the mounting frame 7. Regardless of the specifications (size) of the product, the middle suction cup assembly is open to ensure strong adsorption of the product. Preferably, the distance sensor is arranged in the middle of the mounting frame 7, and the compression amount of the operating suction cup 6 can be detected in time through the moving distance of the suction cup assembly.

[0066] It should be noted that the distance sensor starts working only when the suction cup 6 contacts the surface of the product. To achieve this function, a detection module can be set at the product placement position. After the detection module detects the arrival signal of the suction cup 6, it feeds back to the control element, and the control element starts to control the operation of the distance sensor. The detection module can be a "camera", "proximity sensor", etc.

[0067] Optionally, the distance sensor can also work for a long time. The control element stores the initial distance information between the suction cup 6 and the product placement position. When the telescopic rod 5 drives the suction cup 6 to move, the distance sensor starts to detect the distance and promptly feeds back to the control element. The control element calculates the compression amount of the suction cup 6 based on the distance sensor feedback value and the initial distance information value.

[0068] Optionally, the distance sensor may be in various forms, such as an infrared sensor, an inductive sensor, etc., as long as it can effectively detect the compression amount of the suction cup 6.

[0069] The "product placement position" mentioned in the above process refers to the highest point of the product's surface protrusion for uneven products. For the palletizing system, the placement position information of the box is stored in the control component in advance. It can also be said that the position of the highest point of the protrusion on the product surface is actually known in advance. By collecting the maximum compression amount of the suction cup 6 when actually sucking the product (the compression amount of the suction cup 6 at the highest point of the product's surface protrusion), timely measures (such as alarming or shutting down equipment) can be taken when the limit is exceeded to ensure the service life of the suction cup 6 and avoid product damage.

[0070] Optionally, the distance sensors may be provided in one group, two groups or multiple groups.

[0071] On the basis of any of the above embodiments, a photoelectric sensor 8 is further provided on the mounting frame 7. The photoelectric sensor 8 is connected to the control component signal and is used to detect whether the product on the suction cup 6 falls off.

[0072] In this embodiment, the photoelectric sensor 8 can sense the information of the product at the lower end of the suction cup 6 in real time during the process of product adsorption and transfer. If the product falls before reaching the specified position, the photoelectric sensor 8 can transmit the falling information to the control component, such as the time and position of the product falling, so as to facilitate the subsequent precise adjustment of the adsorption operation, so that the suction cup component can achieve a better adsorption effect and avoid the product falling during the transfer process and causing safety accidents.

[0073] On the basis of any of the above embodiments, a safety valve for cutting off compressed air is provided in the suction cup 6, and the safety valve is connected to the control component signal.

[0074] The safety valve closes the suction cup 6 mainly by cutting off the supply of compressed air. When the photoelectric sensor 8 detects that the product has fallen or that there is no product adsorbed on the suction cup 6, the detection information is transmitted to the control component. The control component can control the operation of the safety valve to close the suction cup 6, thereby avoiding ineffective work, saving resources, and ensuring the safety of the vacuum suction operation.

[0075] In another embodiment, the safety valve is a self-closing valve having a pressure detecting element therein. When the pressure in the suction cup 6 is abnormal, i.e. the product falls or the suction cup 6 does not need to absorb the product, the self-closing valve automatically operates to cut off the compressed air supply and close the suction cup 6.

[0076] Next, the specific implementation method of the above-mentioned vacuum gripper that can solve the problem of old cartons with dents and grooves on the surface when applied to the product conveying and transfer system is introduced:

[0077] Product conveying and transfer system includes:

[0078] Transfer device;

[0079] The vacuum gripper is any of the above-mentioned vacuum grippers that can handle old cartons with dents and grooves on the surface, and the vacuum gripper is arranged at the moving end of the transfer device;

[0080] A control device controls the movement of the transfer device to drive the gripper device at its moving end to transfer.

[0081] By pre-storing the action route, action instructions, etc. in the control unit of the control device, when the vacuum gripper needs to be transferred, the control device controls the movement of the transfer device, so that the vacuum gripper at the mobile end of the transfer device moves according to the action route or action instructions.

[0082] Different from the movement of the suction cup assembly of the vacuum suction device itself, the transfer device can transfer the vacuum suction device after adsorbing the product or the vacuum suction device that has not performed the adsorption operation to any position as needed to realize the transfer and transportation of the product on the suction cup 6.

[0083] Optionally, the transfer device can be a robot or a component formed by connecting multiple robot arms, without too many restrictions.

[0084] Optionally, the product conveying and transferring system may further include a detection system that can feed back the movement information of the vacuum gripper to the control device in a timely manner.

[0085] 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.

[0086] The above is a detailed introduction to the vacuum suction device provided by the utility model that can solve the problem of old cartons with depressions and grooves on the surface. 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 vacuum gripper that can handle old cartons with dents and grooves on the surface, characterized in that: include: Mounting frame (7); Suction cup assemblies, at least two groups of the suction cup assemblies are arranged on the mounting frame (7) and are used to absorb products; The suction cup assembly comprises: A suction cup (6) having a sponge layer at the bottom; The telescopic component has a vacuum circulation cavity inside, one end of the vacuum circulation cavity is used to communicate with the vacuum generator, and the other end of the vacuum circulation cavity is connected to the suction cup (6). Each group of the suction cup components corresponds to a group of the telescopic components. Each group of the telescopic components can be moved up and down independently to make the sponge layer of the suction cup (6) fit with the surface of the product for adsorption operation.

2. The vacuum gripper for removing old cartons with depressions and grooves on the surface according to claim 1 is characterized in that: At least two sponge layers are connected to the bottom of the suction cup (6), and a plurality of small holes for ventilation are provided on the sponge layers.

3. The vacuum gripper for removing old cartons with depressions and grooves on the surface according to claim 2 is characterized in that: The telescopic assembly comprises a telescopic rod (5) having the vacuum circulation cavity therein and a return spring (4) sleeved on the outside of the telescopic rod (5); the first end of the telescopic rod (5) extends out of the mounting frame (7); the second end of the telescopic rod (5) is connected to the suction cup (6); when the telescopic rod (5) moves upward to drive the suction cup (6) to absorb and transfer the product, the return spring (4) is compressed.

4. The vacuum gripper for removing old cartons with depressions and grooves on the surface according to claim 3 is characterized in that: A connecting pipe (1) is provided at the top of the telescopic assembly, the connecting pipe (1) is connected to the mounting frame (7), and the telescopic rod (5) is movably arranged in the inner cavity of the connecting pipe (1).

5. The vacuum gripper for removing old cartons with depressions and grooves on the surface according to claim 4 is characterized in that: The connecting pipe (1) is connected to the mounting frame (7) via a guide sleeve (3); both ends of the telescopic rod (5) are columns, and the diameter of the column at the second end of the telescopic rod (5) is greater than the diameter of the column at the first end of the telescopic rod (5); one end of the return spring (4) abuts against the bottom plane of the guide sleeve (3), and the other end of the return spring (4) abuts against the top plane of the column at the second end of the telescopic rod (5).

6. The vacuum gripper for removing old cartons with depressions and grooves on the surface according to any one of claims 1 to 5, characterized in that: The vacuum gripper further comprises a control component and a moving component. The moving component is used to drive the telescopic component and is connected to the control component by signal.

7. The vacuum gripper for removing old cartons with depressions and grooves on the surface according to claim 6 is characterized in that: The mounting frame (7) is provided with a distance sensor, which is connected to the control component signal and is used to detect the compression amount of the suction cup (6).

8. The vacuum gripper for removing old cartons with depressions and grooves on the surface according to claim 7 is characterized in that: The mounting frame (7) is also provided with a photoelectric sensor (8), which is connected to the control component signal and is used to detect whether the product on the suction cup (6) has fallen off.

9. The vacuum gripper for removing old cartons with depressions and grooves on the surface according to claim 8 is characterized in that: A safety valve for cutting off compressed air is arranged inside the suction cup (6), and the safety valve is connected to the control component by signal.

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