Negative pressure material dragging gripper of flexible unloading robot

Abstract

The utility model relates to a negative pressure material dragging gripper of a flexible unloading robot, which comprises two stand columns arranged at an interval, a connecting supporting plate capable of doing Z-axis lifting motion is arranged between the side faces of the stand columns in a sliding mode, a cross beam capable of doing X-direction movement is arranged on the bottom face of the connecting supporting plate in a sliding mode, and a longitudinal beam is fixed at the front end of the cross beam. A transfer frame capable of moving in the Y direction is installed on the front end face of the longitudinal beam in a sliding mode, a hand grabbing assembly capable of rotating by 90 degrees is installed at the front end of the transfer frame, the hand grabbing assembly is provided with a suction cup capable of sucking a goods packaging bag through negative pressure, and the suction cup is provided with a cavity with an opening facing goods and forming a negative pressure cavity after ventilation. And the inner wall of the cavity of the sucking disc is connected with an air pipe for extracting air in the cavity. When goods are stacked at a high position, the suction cup sucks the side face of a goods packaging bag through negative pressure to pull the packaging bag to move, after the goods stacking height is reduced, the suction cup rotates by 90 degrees and sucks the front face of the goods packaging bag through vertical downward negative pressure to lift the packaging bag, and therefore the lifting device can be suitable for storage and unloading of goods with a low space height.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a negative pressure material dragging hand gripper of a flexible unloading robot. Background Art

[0002] With the continuous development of intelligent technology, the modern logistics industry has increasingly adopted robots for loading and unloading of goods, thus realizing fully automatic logistics operations.

[0003] Unloading robots used in warehousing mostly use negative pressure grippers to grab goods when loading and unloading powdered, granular and other bagged goods. However, some goods are stacked at a high height. If the gripper grabs the front of the packaging bag to grab it, it is necessary to lift the gripper to a height above the goods. This not only makes the overall height of the robot higher and requires more usable space, but also makes it difficult to meet the usage requirements for some warehouses with low space heights and high goods stacked. Utility Model Content

[0004] The technical problem to be solved by the utility model is: in order to overcome the deficiencies in the prior art, the utility model provides a negative pressure material dragging hand gripper of a flexible unloading robot suitable for use in a warehouse with a relatively low space height.

[0005] The technical solution adopted by the utility model to solve its technical problems is: a negative pressure material dragging hand gripper of a flexible unloading robot, comprising two columns arranged at a distance from each other, a connecting support plate which can perform Z-axis lifting movement is slidably provided between the side surfaces of the columns, a crossbeam which can perform X-axis movement is slidably provided on the bottom surface of the connecting support plate, a longitudinal beam is fixed to the front end of the crossbeam, an adapter frame which can perform Y-axis movement is slidably installed on the front end surface of the longitudinal beam, a hand gripper assembly which can rotate ninety degrees is installed at the front end of the adapter frame, the hand gripper assembly has a suction cup for sucking the cargo packaging bag under negative pressure, the suction cup has a cavity which opens toward the cargo and forms a negative pressure cavity after ventilation, and an air pipe for extracting gas in the cavity is connected to the inner wall of the cavity of the suction cup.

[0006] Specifically, the adapter frame includes a slider plate, two rectangular plates arranged at a distance are fixed to the front end of the slider plate, sliders are installed on the upper and lower rear ends of the slider plate, and slide rails that slide with the sliders are installed on the upper and lower front ends of the longitudinal beam.

[0007] Specifically, the hand grip assembly includes a rotating shaft, a flip plate and a disc frame. The rotating shaft is rotatably installed between the front ends of two rectangular plates. A joint disc motor connected to the rotating shaft is installed on the side of a rectangular plate. The flip plate includes a fixed plate and a flip block fixed vertically to the fixed plate. The flip block is fixed to the rotating shaft, the front end face of the fixed plate is fixed to the rear end of the disc frame, and the front end of the disc frame is connected to the rear end face of the suction cup through a cross joint.

[0008] Furthermore, the disc rack includes a front disc, a rear disc and a flange sleeve, the flange at the rear end of the flange sleeve is fixed to the front end surface of the fixed plate, the front end of the flange sleeve is fixed to the rear disc, a circumferentially evenly distributed sleeve rod is provided between the rear disc and the front disc, the rear end of the sleeve rod is fixedly connected to the rear disc, the front end of the sleeve rod is slidably matched with the front disc, a buffer spring is sleeved on the sleeve rod located between the front disc and the rear disc, and the front end surface of the front disc is fixed to the cross joint.

[0009] Furthermore, the air pipe is connected to the center of the flange sleeve of the disc frame through a cross joint and then connected to the external pipeline.

[0010] Furthermore, a conveyor belt for conveying the goods sucked by the suction cup is installed below the suction cup, and the rear side surface of the frame of the conveyor belt is slidably matched with the column to realize the lifting movement of the conveyor belt.

[0011] The beneficial effect of the utility model is that the utility model is provided with a hand grip assembly which can be rotated 90 degrees. When the goods are piled high, the suction cup sucks the side of the goods packaging bag with negative pressure to pull the packaging bag to move. After the height of the goods is lowered, the suction cup rotates 90 degrees vertically downward to suck the front of the goods packaging bag with negative pressure to extract the packaging bag, so that the utility model can be used for storage and unloading in a space with a relatively low height. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0013] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0014] Figure 2 It is a three-dimensional structural schematic diagram of the hand grip assembly of the utility model.

[0015] Figure 3 It is a schematic diagram of the top view of the hand grip assembly of the utility model.

[0016] In the figure: 1. column, 2. connecting support plate, 3. cross beam, 4. longitudinal beam, 5. adapter frame, 5-1. slider plate, 5-2. rectangular plate, 6. suction cup, 7. air pipe, 8. slider, 9. slide rail, 10. rotating shaft, 11. flip plate, 11-1. fixed plate, 11-2. flip block, 12. disc frame, 12-1. front disc, 12-2. rear disc, 12-3. flange sleeve, 12-4. sleeve rod, 12-5. buffer spring, 13. joint disc motor, 14. cross joint, 15. conveyor belt DETAILED DESCRIPTION

[0017] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0018] like Figures 1 to 3 The negative pressure material dragging gripper of a flexible unloading robot shown in the figure comprises an adapter frame 5, the adapter frame 5 has a slider plate 5-1, two rectangular plates 5-2 arranged at a distance are fixed on the front end surface of the slider plate 5-1, a gripper assembly that can be rotated ninety degrees is provided between the front ends of the two rectangular plates 5-2, the gripper assembly has a suction cup 6, the suction cup 6 has a cavity with an opening toward the cargo and forming a negative pressure cavity after ventilation, an air pipe 7 for extracting gas in the cavity is connected to the inner wall of the cavity of the suction cup 6, when the suction cup is in a horizontal state, it can suck the side of the cargo packaging bag with negative pressure to pull the packaging bag to move, and when the suction cup 6 is rotated ninety degrees and is vertically downward, it can suck the front of the cargo packaging bag with negative pressure to extract the packaging bag.

[0019] The hand grip assembly also has a rotating shaft 10, a flip plate 11 and a disc frame 12, wherein the rotating shaft 10 is rotatably installed between the front ends of the two rectangular plates 5-1, and a joint disc motor 13 connected to the rotating shaft 10 is installed on the side of a rectangular plate 5-2. The rotating shaft 10 is driven to rotate by the joint disc motor 13 to realize the change of the orientation of the suction cup of the hand grip assembly between horizontal and vertical.

[0020] The flip plate 11 includes a fixed plate 11 - 1 and a flip block 11 - 2 . The front end of the flip block 11 - 2 is vertically fixed to the fixed plate 11 - 1 , and the rear end of the flip block 11 - 2 is fixed to the rotating shaft 10 .

[0021] The disc rack 12 includes a front disc 12-1, a rear disc 12-2 and a flange sleeve 12-3. The flange at the rear end of the flange sleeve 12-3 is fixed to the front end face of the fixing plate 11-1, and the front end of the flange sleeve 12-3 is fixed to the rear disc 12-2. A sleeve rod 12-4 uniformly distributed in the circumferential direction is provided between the rear disc 12-2 and the front disc 12-1. The rear end of the sleeve rod 12-4 is fixedly connected to the rear disc 12-2, and the front end of the sleeve rod 12-4 is slidably matched with the front disc 12-1. A buffer spring 12-5 is sleeved on the sleeve rod 12-4 located between the front disc 12-1 and the rear disc 12-2. The front end face of the front disc 12-1 is connected to the rear end face of the suction cup 6 through a cross joint 14. In this way, when the suction cup 6 starts to pull the side of the cargo packaging bag, the front disc 12-1 will move along the sleeve rod 12-4 and compress the buffer spring 12-5, thereby having a buffer effect on the action of the suction cup 6 and being able to better absorb the packaging bag.

[0022] The air pipe 7 connected to the inner wall of the cavity of the suction cup 6 is connected to the center of the flange sleeve 12-3 of the disc frame 12 through the center of the cross joint 14 and then connected to the external pipeline.

[0023] The unloading robot is equipped with two spaced columns 1. A connecting support plate 2 that can move up and down along the Z-axis is slidably arranged between the sides of the two columns 1. A cross beam 3 that can move in the X direction is slidably arranged on the bottom surface of the connecting support plate 2. A longitudinal beam 4 is fixed to the front end of the cross beam 3. A transfer frame 5 is slidably engaged with the front end face of the longitudinal beam 4 and can move in the Y direction. Specifically, sliders 8 are respectively installed above and below the rear end face of the slider plate 5-1 of the transfer frame 5, and slide rails 9 that are slidably engaged with the sliders 8 are respectively installed above and below the front end face of the longitudinal beam 4.

[0024] The up and down movement of the connecting support plate 2 along the Z-axis and the movement of the cross beam 3 in the X direction are both realized by a motor-driven gear-rack mechanism, and the movement of the transfer frame 5 in the Y direction is realized by a motor-driven lead screw-nut mechanism.

[0025] To synchronously receive and transfer the goods sucked by the suction cup 6, a conveyor belt 15 for conveying the goods sucked by the suction cup 6 is installed below the suction cup 6. The rear side of the frame of the conveyor belt 15 is slidably engaged with the column 1 to realize the up and down movement of the conveyor belt 15.

[0026] Inspired by the ideal embodiments of the present invention described above, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A negative pressure material-pulling gripper of a flexible unloading robot, comprising two columns (1) arranged at a distance from each other, characterized in that: A connecting support plate (2) capable of Z-axis lifting movement is slidably provided between the side surfaces of the uprights (1); a crossbeam (3) capable of X-axis movement is slidably provided on the bottom surface of the connecting support plate (2); a longitudinal beam (4) is fixed to the front end of the crossbeam (3); a transfer frame (5) capable of Y-axis movement is slidably installed on the front end surface of the longitudinal beam (4); a hand grip assembly capable of 90-degree rotation is installed at the front end of the transfer frame (5); the hand grip assembly has a suction cup (6) for sucking the cargo packaging bag under negative pressure; the suction cup (6) has a cavity with an opening facing the cargo and forming a negative pressure cavity after ventilation; an air pipe (7) for extracting gas in the cavity is connected to the inner wall of the cavity of the suction cup (6).

2. The negative pressure material dragging gripper of the flexible unloading robot according to claim 1 is characterized in that: The adapter frame (5) comprises a slider plate (5-1), two rectangular plates (5-2) arranged at a distance are fixed on the front end surface of the slider plate (5-1), sliders (8) are respectively installed on the upper and lower rear end surfaces of the slider plate (5-1), and slide rails (9) slidably matched with the sliders (8) are respectively installed on the upper and lower front end surfaces of the longitudinal beam (4).

3. The negative pressure material dragging gripper of the flexible unloading robot according to claim 2, characterized in that: The hand grip assembly comprises a rotating shaft (10), a flip plate (11) and a disc frame (12); the rotating shaft (10) is rotatably mounted between the front ends of two rectangular plates (5-2); a joint disc motor (13) drivingly connected to the rotating shaft (10) is mounted on the side of one rectangular plate (5-2); the flip plate (11) comprises a fixed plate (11-1) and a flip block (11-2) vertically fixed to the fixed plate (11-1); the flip block (11-2) is fixed to the rotating shaft (10); the front end surface of the fixed plate (11-1) is fixed to the rear end of the disc frame (12); and the front end of the disc frame (12) is connected to the rear end surface of the suction cup (6) via a cross joint (14).

4. The negative pressure material dragging gripper of the flexible unloading robot according to claim 3 is characterized in that: The disc frame (12) comprises a front disc (12-1), a rear disc (12-2) and a flange sleeve (12-3); a flange at the rear end of the flange sleeve (12-3) is fixed to the front end surface of the fixing plate (11-1); the front end of the flange sleeve (12-3) is fixed to the rear disc (12-2); a sleeve rod (12-4) uniformly distributed in the circumferential direction is provided between the rear disc (12-2) and the front disc (12-1); the rear end of the sleeve rod (12-4) is fixedly connected to the rear disc (12-2); the front end of the sleeve rod (12-4) is slidably matched with the front disc (12-1); a buffer spring (12-5) is sleeved on the sleeve rod (12-4) located between the front disc (12-1) and the rear disc (12-2); and the front end surface of the front disc (12-1) is fixed to the cross joint (14).

5. The negative pressure material dragging gripper of the flexible unloading robot according to claim 4 is characterized in that: The air pipe (7) is connected to the center of the flange sleeve (12-3) of the disc frame (12) through the center of the cross joint (14) and then connected to the external pipeline.

6. The negative pressure material dragging gripper of the flexible unloading robot according to claim 1, characterized in that: A conveyor belt (15) for conveying the goods sucked by the suction cup (6) is installed below the suction cup (6), and the rear side surface of the frame of the conveyor belt (15) is slidably matched with the column (1) to realize the lifting movement of the conveyor belt (15).

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