Sucker clamp for stacking manipulator and stacking manipulator
By designing a suction cup clamp with adjustable fixture width, the problem that existing palletizing robots cannot grasp multiple cigarette boxes of different specifications simultaneously is solved, improving the grab efficiency and reducing the risk of damage.
Patent Information
- Application Number
- CN202421741531.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-23
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-07-23
AI Technical Summary
The clamps of existing palletizing robots cannot grab multiple cigarette boxes of different specifications at the same time, resulting in inefficient grasping.
A suction cup fixture for palletizing robot hands is designed, and the width of the fixture can be adjusted by a telescopic mechanism to adapt to cigarette boxes of different specifications and sizes. The suction cup clamp includes a suction cup mechanism and a telescopic mechanism, which consists of a driving cylinder and a driving member, which can change the spacing of the pair of suction cups.
The suction cup clamp can adapt to cigarette boxes of multiple specifications, improves the gripping efficiency of the palletizing robot when grabbing cigarette boxes of different specifications, avoids the situation where cigarette boxes of different specifications cannot be grasped, and reduces the risk of damage to finished cigarette boxes.
Smart Images
Figure CN222906903U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of packaging, and in particular, to a suction cup fixture for a palletizing robot and a palletizing robot having such a suction cup fixture. Background Art
[0002] In the tobacco industry, with the emergence of different cigarette brands, finished cigarette cartons have correspondingly appeared in different carton specifications. These different specifications of cigarette cartons can be first sorted by brand on the sorting line, then conveyed by a conveyor, and finally palletized and stored in the warehouse by a palletizing robot.
[0003] Although the palletizing robot can obtain the corresponding carton specification of the cigarette carton through the brand information, the fixture of the palletizing robot is usually designed and manufactured according to the requirements of the size of standard-sized cigarettes. Since the box sizes of special-shaped cigarettes and standard cigarettes vary greatly, the palletizing robot can usually only be suitable for grasping two cigarette cartons of one specification, and the fixture of the palletizing robot does not have the ability to simultaneously grasp multiple different specifications of cigarette cartons. Even if the posture of the fixture of the palletizing robot is adjusted, the palletizing robot can usually only grasp one cigarette carton of other specifications. This significantly affects the grasping efficiency of the palletizing robot.
[0004] Since multi-specification cigarette cartons are the mainstream in the current tobacco industry situation, it is desired that the palletizing robot can palletize 2-3 different specifications of cigarette cartons, especially the cartons for special-shaped cigarettes. Summary of the Utility Model
[0005] To avoid the deficiencies of the above-mentioned prior art, the present disclosure provides a suction cup fixture for a palletizing robot and a corresponding palletizing robot, which can be suitable for grasping cigarette cartons of multiple specifications. Further, the grasping efficiency of the palletizing robot when grasping cigarette cartons of different specifications can be improved. In addition, the suction cup fixture and the palletizing robot according to the present disclosure have a simple structure and low cost.
[0006] Therefore, in a first aspect, according to the present disclosure, there is provided a suction cup fixture for a palletizing robot, which can be mounted on the palletizing robot. The suction cup fixture is characterized in that it includes: a suction cup mechanism, the suction cup mechanism includes at least one suction cup pair, and each suction cup pair includes two long-shaped suction cups extending in parallel; a telescopic mechanism, through which the second suction cup of the two suction cups of each suction cup pair can move relative to the first suction cup, so that the distance between the first suction cup and the second suction cup can be changed; the telescopic mechanism includes a driving cylinder and a driving member driven by the driving cylinder, and the driving member is fixedly connected to the second suction cup.
[0007] Therefore, the clamp width of the suction cup clamp according to the present disclosure can be adjusted by the telescopic mechanism, so that the clamp width of the suction cup clamp can be changed for cigarette boxes of different specifications and dimensions, and thus the suction cup clamp can be adapted to grasp cigarette boxes of different specifications and dimensions. In this case, even if there are differences in the specifications of the cigarette boxes, the clamp width of the suction cup clamp can be adjusted to the width required for grasping the cigarette boxes, avoiding the situation where cigarette boxes of different specifications cannot be grasped, improving the efficiency of logistics transportation at the same time, and eliminating the hidden danger of damaging the finished cigarette boxes. Moreover, the suction cup clamp has a simple structure and can be manufactured at low cost.
[0008] In some embodiments, the first suction cup is fixedly mounted on the palletizing robot arm, the second suction cup is fixed on the suction cup bracket, and the driving member is fixedly connected to the second suction cup through the suction cup bracket. This is beneficial to the implementation and installation of the suction cup clamp.
[0009] In some embodiments, at least one suction cup includes a suction cup sponge on the lower side. This can be beneficial to the grasping of paper cigarette boxes and avoid damage to the cigarette boxes.
[0010] In some embodiments, the second suction cup is controlled by a solenoid valve and / or a vacuum switch. This can simply realize the control of the second suction cup. In addition, the monitoring of the vacuum degree of the suction cup can be realized through the vacuum switch.
[0011] In some embodiments, the telescopic mechanism further includes a limit switch. This can simply make the suction cup clamp adapt to a variety of different specifications of cigarette boxes.
[0012] In some embodiments, the limit switch includes at least three limit stops. This can simply make the suction cup clamp adapt to at least three different specifications of cigarette boxes.
[0013] In some embodiments, the driving cylinder is controlled by a pressure switch and / or a throttle valve. This can simply realize the control of the driving cylinder. In addition, the monitoring of the air source pressure can be realized through the pressure switch.
[0014] In some embodiments, the suction cup mechanism includes a plurality of suction cup pairs, the longitudinal axes of the first suction cups of the plurality of suction cup pairs extend on a straight line, and the second suction cups of the plurality of suction cup pairs move together. This is beneficial to the implementation and installation of the suction cup mechanism and can grasp multiple cigarette boxes at the same time.
[0015] In some embodiments, the suction cup clamp is controlled by the control device of the palletizing robot arm itself or externally. This is beneficial to realizing the control of the suction cup clamp.
[0016] In a second aspect, a palletizing robot is proposed according to the present disclosure, including the suction cup fixture according to the present disclosure as described above, and the suction cup fixture is installed on the palletizing robot. The palletizing robot according to the present disclosure may have the same advantages as those of the suction cup fixture according to the present disclosure, which will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] To make the above objects, features, and advantages of the present disclosure more apparent and understandable, the following provides a detailed description of the specific embodiments of the present disclosure with reference to the drawings. The drawings are only for the purpose of showing the preferred embodiments and are not considered as a limitation to the present disclosure. Moreover, in all the drawings, the same reference numerals are used to represent the same components. Some of the drawings may not be drawn to scale and may even be exaggerated, only for the purpose of illustration. In the drawings:
[0018] Figure 1 An exemplary schematic diagram showing the process of a cigarette box being conveyed to the warehousing position is shown.
[0019] Figure 2A and Figure 2B Exemplary schematic diagrams showing cigarette boxes for special-shaped cigarettes and standard cigarettes are respectively shown.
[0020] Figure 3 A schematic diagram showing an embodiment of a suction cup fixture for a palletizing robot according to the present disclosure is shown.
[0021] Figure 4 Shows Figure 3 A schematic diagram of the suction cup fixture when grasping a cigarette box for special-shaped cigarettes.
[0022] Figure 5 Shows Figure 3 A schematic diagram of the suction cup fixture when grasping a cigarette box for standard cigarettes. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0023] Specific details are set forth in the following description to facilitate a thorough understanding of the present disclosure. However, the present disclosure can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present disclosure. Therefore, the present disclosure is not limited by the specific embodiments disclosed below.
[0024] The expression "and / or" as used herein means including at least one of the components listed before and after this expression. Moreover, the expression "connected / coupled" is used to mean including a direct connection to another component or an indirect connection through another component. The singular forms herein also include the plural forms unless specifically mentioned in the wording. Moreover, the components, steps, operations, and elements referred to herein using "including" or "comprising" mean that there is or is added at least one other component, step, operation, and element.
[0025] In the description of the embodiments of the present disclosure, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of the present application.
[0026] As described above, cigarette boxes of different specifications can be sorted according to cigarette brands on the sorting line first, then conveyed by a conveyor, and finally palletized and stored in the warehouse by a palletizing robot. This process is exemplarily shown in Figure 1 the schematic diagram of.
[0027] As Figure 1 shown, after sorting the finished cigarette boxes for different cigarette brands, the finished cigarette boxes 10 for the same brand can be conveyed, for example, by a roller conveyor 100 and transported to the storage position, that is, the grasping position of the palletizing robot 200. When it is recognized by, for example, the in-place photoelectric tube 110 that the cigarette box 10 has reached the grasping position of the palletizing robot 200, the sorting system can send a cigarette box grasping instruction to the palletizing robot 200. Then, by obtaining the grasping position information corresponding to the cigarette box 10 through the current cigarette brand information, the palletizing robot 200 can move its fixture to the corresponding position and height to grasp and palletize the cigarette box 10 into the warehouse.
[0028] Figure 2A shows the cigarette box for special-shaped cigarettes and Figure 2B shows the cigarette box for standard cigarettes. It can be seen from the figure that the box sizes for special-shaped cigarettes and standard cigarettes are very different. Therefore, the fixtures of conventional palletizing robots are not suitable for grasping cigarette boxes of multiple different specifications. The fixtures of current palletizing robots can usually only grasp two cigarette boxes of one specification, or can grasp a single cigarette box of other specifications after adjusting their fixtures.
[0029] Therefore, the present disclosure proposes a suction cup fixture for a palletizing robot, the fixture width of which can be changed according to cigarette boxes of different specification sizes. Therefore, this suction cup fixture can grasp cigarette boxes of different specification sizes. In this case, the control device can control the fixture width of the suction cup fixture according to the obtained specification of the finished cigarette box, and can use a limit switch to determine whether the required fixture width is reached.
[0030] For the convenience of description, the following takes a suction cup fixture for a palletizing robot 200 in an embodiment of the present disclosure as an example for description.
[0031] Reference Figures 3 to 5 , which respectively show a schematic diagram of a suction cup fixture for a palletizing robot 200 according to an embodiment of the present disclosure, a schematic diagram of the suction cup fixture when grasping a cigarette box for special-shaped cigarettes, and a schematic diagram of the suction cup fixture when grasping a cigarette box for standard cigarettes.
[0032] The suction cup fixture for the palletizing robot 200 according to an embodiment of the present disclosure can be mounted on the palletizing robot 200, and in particular, can be mounted on the operating end of the palletizing robot 200.
[0033] The suction cup fixture may include a suction cup mechanism and a telescopic mechanism.
[0034] The suction cup mechanism may include at least one pair of suction cups 210, and in this embodiment, includes two pairs of suction cups 210. Each pair of suction cups 210 includes two parallel and elongated suction cups.
[0035] Through the telescopic mechanism, the second suction cup 212 of the two suction cups of each pair of suction cups 210 can move relative to the first suction cup 211, so that the distance between the first suction cup 211 and the second suction cup 212 can be changed.
[0036] The telescopic mechanism may include a driving cylinder 221 and a driving member 222 driven by the driving cylinder 221. The driving member 222 may be fixedly connected to the second suction cup 212. The driving member 222 may be configured as a slider.
[0037] Thus, the movement of the driving cylinder 221 can drive the driving member 222 and then drive the second suction cup 212 to perform a telescopic movement relative to the first suction cup 211, so that the fixture width of the suction cup fixture is adjustable. Therefore, the suction cup fixture according to the present disclosure can be adjusted according to the cigarette box specifications, so that various cigarette boxes of different specifications can be grasped. This also ensures that the working surface of the suction cup can cover the grasping surface of the cigarette box, avoiding the grasping failure of the manipulator caused by different cigarette box specifications. Moreover, the suction cup fixture has a simple structure and low cost.
[0038] According to some embodiments of the present disclosure, particularly referring to Figure 3 , the first suction cup 211 can be fixedly mounted on the palletizing robot 200. The second suction cup 212 can be fixed on the suction cup bracket, and the driving member 222 can be fixedly connected to the second suction cup 212 through the suction cup bracket. This is beneficial to the implementation and installation of the suction cup fixture.
[0039] According to some embodiments of the present disclosure, particularly referring to Figure 3 , at least one suction cup, preferably each suction cup, may include a suction cup sponge 230 on the lower side. This can be beneficial to the grasping of the paper cigarette box and avoid damage to the cigarette box.
[0040] According to some embodiments of the present disclosure, particularly referring to Figure 3 , the second suction cup 212 can be controlled by a solenoid valve 241 and / or a vacuum switch 242. Thus, the control of the second suction cup can be simply achieved.
[0041] In addition, through the vacuum switch 242, the vacuum degree in the inner cavity of the suction cup can be detected in real time during the process of the palletizing robot 200 grasping the cigarette boxes. If the vacuum degree is insufficient, an alarm can be generated and the palletizing robot 200 can be stopped from operating, thereby avoiding damage to the equipment and materials. Therefore, the monitoring of the vacuum degree of the suction cup can be achieved.
[0042] According to some embodiments of the present disclosure, particularly referring to Figure 3 , the telescopic mechanism may further include a limit switch 250. The limit switch 250 can be configured to determine whether the width of the fixture has been adjusted in place. The limit stop of the limit switch 250 can be fixed according to different preset specification distances.
[0043] Advantageously in this regard, the limit switch 250 may include at least three limit stops. Thus, the width of the fixture of the suction cup fixture can be adapted to at least three types of cigarette boxes. For example, if there are 3 types of cigarette boxes with specifications, a limit switch with 1 - 3 stops can be set. When the specification among the 1 - 3 stops is obtained, the driving cylinder 221 can be stopped by the corresponding stop of the limit switch 4.
[0044] According to some embodiments of the present disclosure, particularly referring to Figure 3 , the driving cylinder 221 can be controlled by a pressure switch 261 and / or a throttle valve 262. Thus, the control of the driving cylinder can be simply achieved.
[0045] In addition, through the pressure switch 261, the actual air source pressure during the grasping process of the palletizing robot 200 can be measured in real time, so that an alarm can be given when the measurement is abnormal to avoid damage to the equipment and materials. For example, the pressure switch 261 for monitoring the compressed air pressure can be preset with a threshold value. Only when the air source pressure is greater than this threshold value, that is, the pressure required for normal operation, can the palletizing robot 200 operate. In addition, before each operation of the palletizing robot 200, it can first be detected whether the air source pressure switch has an output. If there is no output, an alarm can be given so that the operator can troubleshoot. In other words, the palletizing robot 200 is only allowed to operate when it is determined that the air source pressure is normal. Thus, the monitoring of the air source pressure can be achieved.
[0046] According to some embodiments of the present disclosure, the suction cup mechanism may include a plurality of suction cup pairs 210, in Figure 3The embodiments include two pairs of suction cups. The longitudinal axes of the first suction cups 211 of the multiple pairs of suction cups 210 can extend in a line, and the second suction cups 212 of the multiple pairs of suction cups 210 can move together, that is, be jointly driven by the telescopic mechanism. This can facilitate the implementation and installation of the suction cup mechanism.
[0047] According to some embodiments of the present disclosure, the suction cup fixture can be controlled by the own or external control device of the palletizing robot 200. The control device can be implemented as any type of computing device, computing circuit or any type of processor or processing circuit capable of executing a series of instructions stored in a memory, especially a PLC. The control device can include multiple processors and / or multi-core central processing units (CPUs) and can include any type of processor, such as a microprocessor, digital signal processor, microcontroller, etc. The control device can also include a memory to store data and / or algorithms to execute a series of instructions. The control device can also be implemented as a computer program product or software product.
[0048] On the other hand, embodiments of the present disclosure also show a palletizing robot 200, which can include the suction cup fixture according to the present disclosure as described above. The suction cup fixture can be installed on the palletizing robot 200.
[0049] The suction cup fixture and the palletizing robot according to the embodiments of the present disclosure adopt a design scheme with adjustable suction cup spacing. The adjustment of the suction cup spacing is realized by a cylinder, avoiding the grasping failure of the manipulator caused by different specifications of cigarette boxes, ensuring that the working surface of the suction cup can completely cover the grasping surface of the cigarette box, and avoiding vacuum leakage. In addition, its structure is simple and its reliability is good, eliminating the inconvenience of frequently adjusting the grasping position of the suction cup fixture. At the same time, it can improve the efficiency of logistics transportation and eliminate the hidden danger of damaging the finished cigarette box.
[0050] In addition, a vacuum switch and a pressure switch can be used to measure the actual air source pressure and the suction cup vacuum degree in real time during the grasping process of the robot, so as to give an alarm and early warning when the measurement is abnormal, avoid damaging the equipment and materials, and at the same time improve the efficiency of logistics transportation, so that the control device can have a clearer understanding of the conditions during the operation of the equipment.
[0051] The suction cup fixture according to the embodiments of the present disclosure can be installed on an existing palletizing robot, and is easy to maintain and does not affect the original grasping process of the palletizing robot. Moreover, the suction cup fixture is light in weight and the installation process is simple.
[0052] The suction cup fixture according to the embodiments of the present disclosure is applicable to various palletizing industrial robots that need to grasp different specifications of objects and detect the air source pressure and the suction cup vacuum degree, and has good promotion prospects.
[0053] The features disclosed in this application document are important and can be implemented not only individually but also in any combination for the implementation of embodiments in terms of different design solutions. This disclosure is not limited to the illustrated embodiments, but includes or extends to all technical equivalents that may fall within the scope of the appended claims.
Claims
1. A suction cup fixture for a palletizing robot (200), the suction cup fixture being installable on the palletizing robot (200), characterized in that: The suction cup fixture comprises: A suction cup mechanism, the suction cup mechanism comprising at least one suction cup pair (210), each suction cup pair (210) comprising two elongated suction cups extending in parallel; A telescopic mechanism, through which the second suction cup (212) of the two suction cups of each suction cup pair (210) can move relative to the first suction cup (211), so that the distance between the first suction cup (211) and the second suction cup (212) can be changed; the telescopic mechanism includes a driving cylinder (221) and a driving member (222) driven by the driving cylinder (221), and the driving member (222) is fixedly connected to the second suction cup (212).
2. The suction cup fixture according to claim 1, characterized in that: The first suction cup (211) is fixedly mounted on the palletizing robot (200), the second suction cup (212) is fixed on a suction cup bracket, and the driving member (222) is fixedly connected to the second suction cup (212) via the suction cup bracket.
3. The suction cup fixture according to claim 1, characterized in that: At least one suction cup comprises a suction cup sponge (230) on the underside.
4. The suction cup fixture according to claim 1, characterized in that: The second suction cup (212) is controlled by a solenoid valve (241) and / or a vacuum switch (242).
5. The suction cup fixture according to claim 1, characterized in that: The telescopic mechanism also includes a limit switch (250).
6. The suction cup fixture according to claim 5, characterized in that: The limit switch (250) comprises at least three limit stops.
7. The suction cup fixture according to claim 1, characterized in that: The driving cylinder (221) is controlled by a pressure switch (261) and / or a throttle valve (262).
8. The suction cup fixture according to claim 1, characterized in that: The suction cup mechanism comprises a plurality of suction cup pairs (210), the longitudinal axes of the first suction cups (211) of the plurality of suction cup pairs (210) extend on a line, and the second suction cups (212) of the plurality of suction cup pairs (210) move together.
9. The suction cup fixture according to claim 1, characterized in that: The suction cup clamp is controlled by the palletizing robot (200)'s own or external control device.
10. A palletizing robot (200), characterized in that: The palletizing robot (200) comprises a suction cup clamp according to any one of claims 1 to 9, wherein the suction cup clamp is installed on the palletizing robot (200).