Package vacuum grabbing device and automatic package feeding device of sorting machine

Abstract

The utility model discloses a package vacuum grabbing device and an automatic package feeding device of a sorting machine. The package vacuum grabbing device comprises a base plate, a center adsorption assembly and an edge adsorption assembly. The center adsorption assembly and the four edge adsorption assemblies are all installed below the base plate. The vacuum suction cups in the four edge adsorption assemblies are arranged around the sponge suction cup in the center adsorption assembly in a square shape. The rectangular sponge suction cup is matched with the four vacuum suction cups, the characteristic that the rectangular sponge suction cup is large in coverage area is utilized, the number of the vacuum suction cups is reduced, and meanwhile the stable multi-type package grabbing capacity can still be guaranteed. Besides, a limiting sensor is arranged on a limiting rod for restraining the rectangular sponge suction cup in a matched mode, and whether the sponge suction cup is tightly attached to the package or not is judged according to whether the limiting sensor is triggered or not. Meanwhile, the stepped surface on the limiting rod is used for mechanical limiting, and damage caused by the fact that the suction cup collides with the base plate when the sensor breaks down is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of logistics sorting equipment, and particularly relates to a package vacuum grasping device and an automatic package loading device for a sorting machine. Background Art

[0002] With the booming development of e-commerce, the logistics industry is faced with huge package processing demands. As one of the key technologies to improve logistics efficiency, the performance of an automated sorting system directly affects the efficiency and accuracy of the entire logistics distribution. In an automated sorting system, automated package loading is a key link to achieve efficient and rapid sorting and distribution. With the increasing number of packages processed in a logistics center, the traditional manual package loading method can no longer meet the growing business needs.

[0003] As the core component of an automated package loading device, the performance and cost-effectiveness of an automatic grasping device directly affect the economy and efficiency of the entire system. Most traditional automatic grasping devices use nine vacuum suction cups arranged in an array to ensure stable grasping of packages, which results in a significant increase in cost. In addition, the existing automatic grasping devices lack detection elements that can indicate the firm fit between the grasping device and the package. Summary of the Invention

[0004] The purpose of the utility model is to provide a package vacuum grasping device and an automatic package loading device for a sorting machine.

[0005] In a first aspect, the utility model provides a package vacuum grasping device, which includes a substrate, a central adsorption component, and an edge adsorption component; the central adsorption component and four edge adsorption components are all installed below the substrate; the central adsorption component includes a sponge suction cup; the edge adsorption component includes a vacuum suction cup; the vacuum suction cups in the four edge adsorption components are arranged in a square; the bottom surface of the sponge suction cup is rectangular and is located between the four vacuum suction cups.

[0006] Preferably, the four edge adsorption components are respectively installed at the four corners of the substrate; one end face of the sponge suction cup is located between the central axes of two of the vacuum suction cups; the other end face of the sponge suction cup is located between the central axes of the other two vacuum suction cups.

[0007] Preferably, the central adsorption assembly further includes a first guiding column, a first return spring, a limiting rod, and a central air pipe; the first guiding column is slidably connected to the middle of the substrate; the center of the top surface of the sponge suction cup is fixed to the bottom end of the first guiding column; a plurality of limiting rods are all vertically arranged, and the bottom ends are respectively fixed to different positions on the top surface of the sponge suction cup; the limiting rods pass through corresponding limiting holes on the substrate; a limiting nut is fixed to the top end of the first guiding column; the first return spring is installed on the first guiding column to provide a return elastic force for the sponge suction cup. The limiting rod is in the shape of a two-stage stepped shaft, and the stepped surface on the limiting rod cooperates with the bottom of the limiting hole on the substrate for limiting.

[0008] Preferably, a detection assembly is further included; the detection assembly includes a detection bracket and a limit sensor; the detection bracket is fixed to the top surface of the substrate; the limit sensor is fixed to the detection bracket; the position of the limit sensor corresponds to one of the limiting rods; in the initial state, the limit sensor is above the corresponding limiting rod.

[0009] Preferably, the central adsorption assembly further includes a first linear bearing; the first linear bearing is fixed to the center of the substrate; the vertically arranged first guiding column is slidably connected to the first linear bearing; there are two first return springs in total; both of the two first return springs are sleeved on the first guiding column; the opposite ends of the two first return springs respectively abut against the top and bottom of the first linear bearing; the opposite ends of the two first return springs respectively abut against the bottom end and the top end of the first guiding column.

[0010] Preferably, a relief hole is formed on the substrate; the air outlet of the sponge suction cup is connected to the central air pipe; the central air pipe passes through the relief hole on the substrate and is connected to a negative pressure source.

[0011] Preferably, the edge adsorption assembly further includes a second guiding column, a second return spring, and a pneumatic joint; the second guiding column is slidably connected to the substrate; the center of the top surface of the vacuum suction cup is fixed to the bottom end of the second guiding column; the second return spring is installed on the second guiding column to provide a return elastic force for the vacuum suction cup.

[0012] Preferably, an air passage is provided inside the second guiding column; the air outlet at the top of the vacuum suction cup is communicated with the bottom end of the air passage of the second guiding column; a pneumatic joint communicated with the air passage is threadedly connected to the top of the second guiding column.

[0013] Preferably, the edge adsorption assembly further includes a second linear bearing; the second linear bearing is fixed to the corner of the substrate; the vertically arranged second guiding column is slidably connected to the second linear bearing; there are two second return springs in total; both of the two second return springs are sleeved on the second guiding column; the opposite ends of the two second return springs respectively abut against the top and bottom of the second linear bearing; the opposite ends of the two second return springs respectively abut against the bottom end and the top end of the second guiding column.

[0014] In a second aspect, the present utility model provides an automatic package loading device for a sorting machine, which includes an industrial robotic arm and the aforementioned package vacuum gripping device; the industrial robotic arm has a plurality of articulated arms driven by a motor to rotate; the substrate of the package vacuum gripping device is fixed at the end of the industrial robotic arm.

[0015] The beneficial effects of the present utility model are as follows:

[0016] 1. The present utility model combines a rectangular sponge suction cup with four vacuum suction cups. By utilizing the characteristic of the large covering area of the rectangular sponge suction cup, while reducing the number of vacuum suction cups, it can still ensure a stable gripping ability for multiple types of packages.

[0017] 2. For the limiting rod that restricts the rectangular sponge suction cup, the present utility model is equipped with a limit sensor; when the first return spring reaches a preset compression amount, the limit sensor is automatically triggered, so as to facilitate judging whether the sponge suction cup is closely attached to the package, improve the success rate of package gripping, and improve the package loading efficiency of the automatic package loading device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of Embodiment 1 of the present utility model.

[0019] Figure 2 It is a front schematic diagram of Embodiment 1 of the present utility model.

[0020] Figure 3 It is a side schematic diagram of Embodiment 1 of the present utility model.

[0021] Figure 4 It is a structural schematic diagram of Embodiment 2 of the present utility model.

[0022] Reference numerals: 1. Substrate; 2. Sponge suction cup; 3. First guide post; 4. First return spring; 5. First linear bearing; 6. Limiting rod; 7. Central air pipe; 8. Vacuum suction cup; 9. Second guide post; 10. Second return spring; 11. Second linear bearing; 12. Pneumatic joint; 13. Detection bracket; 14. Limit sensor; 15. Industrial robotic arm; 16. Connecting shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The present utility model will be further described below with reference to the accompanying drawings.

[0024] Embodiment 1

[0025] As Figure 1As shown in the figure, a wrapping vacuum grasping device includes a substrate 1, a central adsorption component, an edge adsorption component, and a detection component. The central adsorption component and multiple edge adsorption components are both installed below the substrate 1 and can move upward under the action of the wrapping support force. The four edge adsorption components surround the central adsorption component.

[0026] As Figure 2 and 3 shown in the figure, the central adsorption component includes a sponge suction cup 2, a first guiding column 3, a first return spring 4, a first linear bearing 5, a limiting rod 6, and a central air pipe 7. The first linear bearing 5 is fixed at the center of the substrate 1. The vertically arranged first guiding column 3 is slidably connected to the first linear bearing 5. The sponge suction cup 2 is in the shape of a cuboid, and the center position of its top surface is fixed to the bottom end of the first guiding column 3; the four limiting rods 6 are all vertically arranged, and the bottom ends are respectively fixed to the four corners of the top surface of the sponge suction cup 2. The four limiting rods 6 respectively pass through four corresponding limiting holes on the substrate 1 to prevent the sponge suction cup 2 from rotating during operation.

[0027] A limiting nut is fixed to the top end of the first guiding column 3. There are two first return springs 4 in total. The two first return springs 4 are both sleeved on the first guiding column 3 and are respectively located above and below the first linear bearing 5. One end of the first return spring 4 located above the first linear bearing 5 abuts against the top of the first linear bearing 5 and the bottom of the limiting nut respectively. One end of the first return spring 4 located below the first linear bearing 5 abuts against the top surface of the sponge suction cup 2 and the bottom of the first linear bearing 5 respectively.

[0028] A relief hole is provided on the substrate 1. The air outlet of the sponge suction cup 2 is connected to the central air pipe 7. The central air pipe 7 passes through the relief hole on the substrate 1 and is connected to a negative pressure source. The negative pressure source is a vacuum generator.

[0029] As Figure 1 shown in the figure, the four edge adsorption components are respectively installed at the four corners of the substrate 1. One end face of the sponge suction cup 2 is located between the central axes of two of the edge adsorption components. The other end face of the sponge suction cup 2 is located between the central axes of the other two edge adsorption components. The edge adsorption component includes a vacuum suction cup 8, a second guiding column 9, a second return spring 10, a second linear bearing 11, and a pneumatic joint 12. The second linear bearing 11 is fixed at the corner of the substrate 1. The vertically arranged second guiding column 9 is slidably connected to the second linear bearing 11. The vacuum suction cup 8 is in the shape of a disc, and the center position of its top surface is fixed to the bottom end of the second guiding column 9; the second guiding column 9 is in a tubular structure and is provided with an air passage inside. The air outlet at the top of the vacuum suction cup 8 is communicated with the bottom end of the air passage of the second guiding column 9. A pneumatic joint 12 communicated with the air passage is threadedly connected to the top of the second guiding column 9.

[0030] There are two second return springs 10 in total. Both of the two second return springs 10 are sleeved on the second guide post 9 and are respectively located above and below the second linear bearing 11. The two ends of the second return spring 10 located above the second linear bearing 11 respectively abut against the top of the second linear bearing 11 and the bottom of the pneumatic joint 12. The two ends of the second return spring 10 located below the second linear bearing 11 respectively abut against the top of the vacuum suction cup 8 and the bottom of the second linear bearing 11.

[0031] The central air pipe 7 of the central adsorption assembly and the pneumatic joints 12 of the four edge adsorption assemblies are respectively connected to five independent vacuum generators, so as to facilitate independent control of the central adsorption assembly and the four edge adsorption assemblies.

[0032] The detection assembly includes a detection bracket 13 and a limit sensor 14. The detection bracket 13 is fixed on the top surface of the substrate 1. The limit sensor 14 is fixed on the detection bracket 13. The position of the limit sensor 14 corresponds to one of the limit rods 6. After the limit rod 6 is lifted by a preset height relative to the substrate 1, the limit rod 6 can trigger the limit sensor 14. Thus, it is possible to judge whether the central adsorption assembly applies a pressure to the package that can ensure sufficient contact according to the output signal of the limit sensor 14.

[0033] In this embodiment, the limit rod 6 is in the shape of a two-stage stepped shaft with a smaller upper part and a larger lower part, and is obtained by threadedly connecting the lower shaft with a larger diameter and the upper shaft with a smaller diameter. The aperture of the limit hole is larger than the upper shaft and smaller than the lower shaft, so that the stepped surface on the limit rod 6 and the bottom surface of the substrate 1 can achieve mechanical limit. Even if the limit sensor 14 fails, mechanical limit can be achieved through the stepped surface on the limit rod 6 and the bottom surface of the substrate 1, avoiding direct impact between the sponge suction cup 2 and the vacuum suction cup 8 and the substrate 1 and causing damage.

[0034] In this embodiment, the limit sensor 14 adopts a U-shaped infrared sensor. The limit rod 6 can be lifted between the infrared emitter and the receiver of the U-shaped infrared sensor.

[0035] The working principle of the present utility model is as follows:

[0036] Attach the sponge suction cup 2 and the vacuum suction cup 8 to the side of the package to be grasped; apply negative pressure to the sponge suction cup 2 and the vacuum suction cup 8; make the package adsorbed on the sponge suction cup 2 and the vacuum suction cup 8, so as to transfer the package to the target position.

[0037] Embodiment 2

[0038] As Figure 4As shown in the figure, a sorting machine automatic bag loading device includes an industrial robotic arm 15 and a package vacuum gripping device as described in Embodiment 1. The industrial robotic arm 15 has a plurality of articulated arms driven to rotate by a motor. The substrate 1 of the package vacuum gripping device is fixed to the end of the industrial robotic arm 15 through a connecting shaft 16.

[0039] The working principle of this embodiment is as follows:

[0040] The industrial robotic arm 15 drives the package vacuum gripping device to the package to be loaded with a bag. The package vacuum gripping device adsorbs and grips the package; the industrial robotic arm 15 drives the vacuum gripping device and the package to move to the bag loading table; the vacuum gripping device releases the package, completing the automatic bag loading operation.

Claims

1. A package vacuum gripping device, comprising a substrate (1), a central suction component and an edge suction component; characterized in that: The central adsorption component and the four edge adsorption components are all installed below the base plate (1); the central adsorption component comprises a sponge suction cup (2); the edge adsorption component comprises a vacuum suction cup (8); the vacuum suction cups (8) in the four edge adsorption components are arranged in a square shape; the bottom surface of the sponge suction cup (2) is rectangular and is located between the four vacuum suction cups (8).

2. A package vacuum grabbing device according to claim 1, characterized in that: Four edge suction components are respectively mounted on the four corners of the base plate (1); one end surface of the sponge suction cup (2) is located between the central axes of two of the vacuum suction cups (8); and the other end surface of the sponge suction cup (2) is located between the central axes of the other two vacuum suction cups (8).

3. The package vacuum grabbing device according to claim 1, characterized in that: The central adsorption assembly further comprises a first guide column (3), a first return spring (4), a limit rod (6) and a central air pipe (7); the first guide column (3) is slidably connected to the middle of the base plate (1); the center position of the top surface of the sponge suction cup (2) is fixed to the bottom end of the first guide column (3); a plurality of limit rods (6) are vertically arranged, and the bottom ends are respectively fixed to different positions of the top surface of the sponge suction cup (2); the limit rod (6) passes through the corresponding limit hole on the base plate (1); the top end of the first guide column (3) is fixed with a limit nut; the first return spring (4) is installed on the first guide column (3) to provide a resetting elastic force for the sponge suction cup (2); the limit rod (6) is in the shape of a two-stage stepped shaft, and the stepped surface on the limit rod (6) cooperates with the bottom of the limit hole of the base plate (1) for limiting.

4. A package vacuum grabbing device according to claim 3, characterized in that: It also includes a detection component; the detection component includes a detection bracket (13) and a limit sensor (14); the detection bracket (13) is fixed on the top surface of the substrate (1); the limit sensor (14) is fixed on the detection bracket (13); the position of the limit sensor (14) corresponds to one of the limit rods (6); in the initial state, the limit sensor (14) is above the corresponding limit rod (6).

5. The package vacuum grabbing device according to claim 3, characterized in that: The central adsorption component further comprises a first linear bearing (5); the first linear bearing (5) is fixed at the central position of the base plate (1); a vertically arranged first guide column (3) is slidably connected to the first linear bearing (5); there are two first return springs (4); the two first return springs (4) are both sleeved on the first guide column (3); the opposite ends of the two first return springs (4) respectively abut against the top and bottom of the first linear bearing (5); the opposite ends of the two first return springs (4) respectively abut against the bottom and top of the first guide column (3).

6. The package vacuum grabbing device according to claim 3, characterized in that: The base plate (1) is provided with a clearance hole; the air outlet of the sponge suction cup (2) is connected to the central air pipe (7); the central air pipe (7) passes through the clearance hole on the base plate (1) and is connected to the negative pressure source.

7. The package vacuum grabbing device according to claim 1, characterized in that: The edge suction assembly further comprises a second guide post (9), a second return spring (10) and a pneumatic joint (12); the second guide post (9) is slidably connected to the substrate (1); the center position of the top surface of the vacuum suction cup (8) is fixed to the bottom end of the second guide post (9); the second return spring (10) is installed on the second guide post (9) to provide a return elastic force to the vacuum suction cup (8).

8. A package vacuum grabbing device according to claim 7, characterized in that: The second guide column (9) is provided with an air passage inside; the air outlet at the top of the vacuum suction cup (8) is connected to the bottom end of the air passage of the second guide column (9); the top of the second guide column (9) is threadedly connected to a pneumatic joint (12) connected to the air passage.

9. The package vacuum grabbing device according to claim 7, characterized in that: The edge adsorption assembly further comprises a second linear bearing (11); the second linear bearing (11) is fixed at a corner of the base plate (1); a second guide column (9) arranged vertically is slidably connected to the second linear bearing (11); there are two second return springs (10); the two second return springs (10) are both sleeved on the second guide column (9); the opposite ends of the two second return springs (10) respectively abut against the top and bottom of the second linear bearing (11); the opposite ends of the two second return springs (10) respectively abut against the bottom and top of the second guide column (9).

10. An automatic bagging device for a sorting machine, comprising an industrial robot arm (15), characterized in that: It also includes a package vacuum gripping device as described in any one of claims 1 to 9; the industrial robot arm (15) has a plurality of articulated arms driven to rotate by a motor; and the base plate (1) of the package vacuum gripping device is fixed to the end of the industrial robot arm (15).

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