Adsorption gripper, manipulator and automatic labeling equipment

Abstract

The utility model is suitable for the field of automatic equipment, and provides an adsorption gripper, a manipulator and automatic labeling equipment. The adsorption gripper comprises a base; the adsorption part is connected to the base and provided with an adsorption face, a plurality of adsorption areas are arranged on the adsorption face, and adsorption holes are formed in the positions, in the adsorption areas, of the adsorption part. The adsorption gripper provided by the embodiment of the utility model can adapt to various workpieces with different sizes, and has better compatibility.

Description

Technical Field

[0001] The present application relates to the field of automation equipment, and in particular to an adsorption gripper, a manipulator and an automatic labeling device. Background Art

[0002] In automated manufacturing processes, suction grippers are often used to absorb and attach labels to products. However, conventional suction grippers have limited compatibility and can only accommodate labels of a specific size. Changes in label size require replacement of the gripper, wasting production time and increasing gripper stocking costs. Utility Model Content

[0003] In view of this, the embodiments of the present application provide an adsorption gripper, a robot arm and an automatic labeling device that can adapt to workpieces of different sizes and solve the problem of poor compatibility of existing adsorption grippers.

[0004] An embodiment of the first aspect of the present application provides a suction gripper, comprising:

[0005] base;

[0006] The adsorption member is connected to the base, and the adsorption member has an adsorption surface. A plurality of adsorption areas are arranged on the adsorption surface, and adsorption holes are opened in the adsorption areas.

[0007] In the suction gripper provided in the embodiment of the present application, the suction surface of the suction member has multiple suction areas, each of which is provided with suction holes. Each suction area can independently suction a workpiece, thereby enabling the suction gripper to suction multiple workpieces of different sizes through the multiple suction areas. The suction gripper provided in the present application has high compatibility, and the suction gripper does not need to be replaced when the workpiece is changed, thus solving the problem of wasted production time and increased material preparation costs caused by replacing the suction gripper.

[0008] In some embodiments, at least two of the adsorption regions have different sizes.

[0009] By adopting the above technical solution, at least two adsorption areas can adapt to workpieces of at least two sizes, thereby improving the compatibility of the adsorption gripper.

[0010] In some embodiments, a plurality of mutually isolated cavities are provided inside the adsorption component, each of the cavities has a vacuum access port, and each of the cavities is connected to the adsorption hole in one of the adsorption areas.

[0011] By adopting the above technical solution, a plurality of mutually isolated cavities are provided inside the adsorption component and each cavity has a vacuum access port, so that each cavity can independently control its vacuum degree and then adsorb the workpiece through the corresponding adsorption area.

[0012] In some embodiments, the adsorption gripper further includes a plurality of vacuum generators disposed on the base, the vacuum generators being connected to the vacuum inlet, and the vacuum generators being in one-to-one communication with the cavity.

[0013] By adopting the above technical solution, multiple vacuum generators are installed on the base and can move with the base and the adsorption part; each vacuum generator can control an adsorption area to generate adsorption force, and labels of different sizes can be compatible and automatically changed by controlling different vacuum generators.

[0014] In some embodiments, the adsorbent includes a suction cup body and a sealing plate sealed to the suction cup body, a cavity is provided in the suction cup body and a partition is provided in the cavity, and the partition divides the cavity into a plurality of cavities; the sealing plate cover is provided on the suction cup body, and the vacuum inlet is provided on the suction cup body or the sealing plate.

[0015] By adopting the above technical solution, the adsorption component includes a suction cup body and a sealing plate. The partition inside the suction cup body divides the cavity into multiple cavities. The structure of the adsorption component is relatively simple and the cost is low.

[0016] In some embodiments, the adsorption component is movable relative to the base along a first direction, where the first direction is an arrangement direction of the base and the adsorption component.

[0017] By adopting the above technical solution, when the adsorption member is pressed on the product, the adsorption member can move relative to the base to adjust the height of the adsorption member, thereby avoiding damage to the product due to overpressure.

[0018] In some embodiments, the adsorption gripper also includes a floating assembly, which includes a connecting block, a guide rod and an elastic member. The connecting block is connected to the adsorption member, and the guide rod extends along the first direction. One end of the guide rod is fixedly connected to the base and one of the adsorption member connecting block, and the other end of the guide rod is movably connected to the base and the other of the connecting block. The elastic member is sleeved on the guide rod and elastically supports the connecting block.

[0019] In some embodiments, the number of the guide rods and the number of the elastic members are multiple, the multiple guide rods are arranged in parallel and at intervals, and the elastic members are arranged in a one-to-one correspondence with the guide rods.

[0020] By setting the number of guide rods to be multiple, the balance of the adsorption member during movement can be improved, and the probability of the adsorption member tilting and failing to adsorb the workpiece can be reduced.

[0021] In some embodiments, a plurality of the guide rods are connected together by connecting rods.

[0022] By adopting the above technical solution, multiple guide rods can move synchronously, so that the adsorption surface can be set horizontally, which makes it easier for the adsorption surface to fit the workpiece.

[0023] In some embodiments, the adsorption gripper further includes a visual detection module disposed on the base, and the visual detection module is used to identify the workpiece to be adsorbed and / or detect the position of the workpiece to be attached.

[0024] By providing a visual inspection module, the adsorption gripper can identify the position of the workpiece and / or product to which the workpiece is to be attached, thereby improving the functionality of the adsorption gripper.

[0025] In some embodiments, a through hole is provided on the base; the visual inspection module includes an image acquisition device and a light source, the image acquisition device is provided on the side of the base away from the adsorption component and is arranged corresponding to the through hole, the image acquisition device is used to take pictures of the workpiece or the product to be attached to the workpiece, and the light source is arranged adjacent to the image acquisition device.

[0026] By adopting the above technical solution, the visual inspection module can take pictures of the workpiece and the product through the through hole on the base, and the visual inspection module can avoid the adsorption part and will not hinder the adsorption part from adsorbing the workpiece.

[0027] In some embodiments, the visual inspection module further includes a camera protection cover, which is disposed on the base and surrounds the circumference of the image acquisition device.

[0028] By adopting the above technical solution, the camera protective cover can protect the image acquisition device and improve the safety of the image acquisition device.

[0029] In some embodiments, the light source surrounds the circumference of the image acquisition device.

[0030] By adopting the above technical solution, the light source can provide uniform light for the image acquisition device.

[0031] The embodiment of the second aspect of the present application provides a manipulator, comprising:

[0032] The adsorption gripper as described in the first aspect;

[0033] The robot body is connected to the adsorption gripper and is used to drive the adsorption gripper to move.

[0034] The robot provided in the embodiment of the present application includes a suction gripper and a robot body. The robot body can drive the suction gripper to move, so that the robot can not only adsorb workpieces, but also transport and attach workpieces; since the suction gripper is compatible with workpieces of various sizes, when the workpiece is changed, there is no need to remove and replace the suction gripper from the robot body, which improves the compatibility and work efficiency of the robot.

[0035] The embodiment of the third aspect of the present application provides an automatic labeling device, comprising:

[0036] The manipulator as described in the second aspect;

[0037] A fixing mechanism for fixing the product;

[0038] A label printing mechanism, for printing labels;

[0039] The robot body is used to drive the adsorption gripper to move between the label printing mechanism and the fixing mechanism, and the adsorption gripper is used to adsorb the label on the label printing mechanism and attach the label to the product.

[0040] The automatic labeling equipment provided in the embodiment of the present application can automatically print labels, grab labels and attach labels, and has high production efficiency; since the adsorption gripper is compatible with labels of different sizes, the automatic labeling equipment can automatically attach labels of various sizes, and there is no need to frequently replace the adsorption gripper when the product is changed, which reduces the problem of wasted production time and increased material preparation costs caused by replacing the adsorption gripper, thereby improving production efficiency and reducing production costs.

[0041] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or conventional technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 is a three-dimensional schematic diagram of a suction gripper provided in some embodiments of the present application;

[0044] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the adsorption part in the adsorption gripper shown;

[0045] Figure 3 yes Figure 2 A schematic three-dimensional diagram of the suction cup body in the adsorption member shown;

[0046] Figure 4 yes Figure 3 The bottom view of the suction cup body is shown;

[0047] Figure 5 It is a three-dimensional schematic diagram of the automatic labeling equipment provided by some embodiments of the present application.

[0048] The meanings of the marks in the figure are:

[0049] 100. Adsorption gripper;

[0050] 10. Base; 11. Bottom plate; 111. Through hole; 12. Mounting seat;

[0051] 20. Adsorption element; 201. Adsorption surface; 2011. Adsorption area; 202. Adsorption hole; 203. Cavity; 2031. Vacuum access port; 21. Suction cup body; 211. Partition plate; 22. Sealing plate;

[0052] 30. Floating assembly; 31. Connecting block; 32. Guide rod; 33. Elastic member;

[0053] 40. Visual detection module; 41. Image acquisition device; 42. Light source; 43. Camera protection cover;

[0054] 50. Vacuum generator;

[0055] 1000. Automatic labeling equipment; 200. Robot body; 300. Robot; 400. Fixing mechanism; 500. Label printing mechanism; 600. Frame. DETAILED DESCRIPTION

[0056] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0058] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0059] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0060] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0061] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0062] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0063] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0064] In automated manufacturing processes, it is often necessary to use suction grippers to absorb labels and attach them to products. For example, after the battery module is manufactured, a suction gripper is needed to absorb and attach the label to the battery module.

[0065] In related technologies, the adsorption gripper uses the vacuum adsorption principle to adsorb labels, but can only adsorb labels of a specific size. The adsorption gripper has poor compatibility. For labels of different specifications, the adsorption gripper needs to be replaced for adsorption, which wastes production time and increases the material preparation cost of the adsorption gripper.

[0066] In view of this, the present application proposes an adsorption gripper, a robot arm and an automatic labeling device. The adsorption gripper includes a base and an adsorption part connected to the base. The surface of the adsorption part has multiple adsorption areas and each adsorption area is provided with adsorption holes. Each adsorption area can independently adsorb the workpiece, so that the adsorption gripper can adsorb multiple workpieces of different sizes through multiple adsorption areas. The adsorption gripper provided by the present application has high compatibility. There is no need to replace the adsorption gripper when the workpiece is changed, which solves the problem of wasted production time and increased material preparation costs caused by replacing the adsorption gripper.

[0067] The embodiment of the first aspect of the present application provides a suction gripper for sucking and grabbing a workpiece. The embodiment of the present application is described using a label as an example workpiece. It is understood that the suction gripper can also suck other workpieces.

[0068] Please refer to Figures 1 to 4 The adsorption gripper 100 includes a base 10 and an adsorption member 20 connected to the base 10 . The adsorption member 20 has an adsorption surface 201 . A plurality of adsorption areas 2011 are provided on the adsorption surface 201 . Adsorption holes 202 are provided in the adsorption member 20 and the adsorption areas 2011 .

[0069] The base 10 is used to provide a mounting environment for the suction element 20. In some embodiments, the base 10 is also used to connect to the robot body, so that the robot body can move the suction element 20 through the base 10. In some embodiments, the base 10 includes a bottom plate 11 and a mounting base 12 provided on the bottom plate 11. The suction element 20 is connected to the bottom plate 11, and the robot body 200 is connected to the mounting base 12. The bottom plate 11 and the mounting base 12 can be made of metal, plastic, or other materials.

[0070] The suction member 20 is used to absorb workpieces such as labels. The suction member 20 has a suction surface 201, which is the surface of the suction member 20 for attaching to the workpiece. In some embodiments, the suction surface 201 is flat to facilitate attachment to the workpiece. In other embodiments, the suction surface 201 can also be non-flat, for example, with a suction area 2011 recessed or convex on the suction member 20.

[0071] like Figures 1 to 4 As shown, in some embodiments, the suction surface 201 is the surface of the suction member 20 facing away from the base 10, so that the base 10 does not prevent the suction surface 201 from attaching to the workpiece and the product to be attached to the workpiece. In other embodiments, the suction surface 201 can also be located on other sides of the suction member 20.

[0072] The suction surface 201 of the suction member 20 is provided with a plurality of suction regions 2011, each of which is provided with one or more suction holes 202. Each of the suction regions 2011 is capable of independently sucking a workpiece. The plurality of suction regions 2011 may be located on the same side of the suction member 20 or on different sides. When the plurality of suction regions 2011 are located on the same side of the suction member 20, the plurality of suction regions 2011 may be arranged adjacent to each other, each of which is capable of independently sucking a workpiece. Alternatively, at least two adjacent suction regions 2011 may be capable of simultaneously sucking a workpiece.

[0073] Each adsorption region 2011 is adapted to accommodate a workpiece of a specific size. Each adsorption region 2011 may be provided with one or more adsorption holes 202. Adsorption region 2011 being adapted to the workpiece means that the workpiece covers all adsorption holes 202 within adsorption region 2011, thereby preventing air leakage. The projected area of ​​the workpiece onto adsorption region 2011 may be equal to or different from the area of ​​adsorption region 2011, but the projection of the workpiece onto adsorption region 2011 must cover all adsorption holes 202 within adsorption region 2011.

[0074] During use, the suction element 20 moves with the base 10 to the surface of the workpiece to be suctioned. Depending on the size of the workpiece, one suction area 2011 of the suction element 20 is aligned with the workpiece. The suction holes 202 in this suction area 2011 are connected to the vacuum generator and used to suction the workpiece; the suction holes 202 in the remaining suction areas 2011 do not require vacuuming. If the size of the workpiece to be suctioned changes, the adapted suction area 2011 can be used to suction the changed workpiece without replacing the suction element 20 or the suction gripper 100.

[0075] It can be understood that if the size of the workpiece to be adsorbed matches the area formed by two or more adsorption areas 2011, multiple adsorption areas 2011 can be used to adsorb one workpiece at the same time.

[0076] In the suction gripper 100 provided in the embodiment of the present application, the surface of the suction member 20 has multiple suction areas 2011, each of which is provided with a suction hole 202. Thus, each suction area 2011 can independently suction a workpiece, and the suction gripper 100 can suction multiple workpieces of different sizes through the multiple suction areas 2011. The suction gripper 100 provided in the present application is adaptable to workpieces of various sizes and has high compatibility. When the workpiece is changed, there is no need to replace the suction gripper 100, thus solving the problem of wasted production time and increased material preparation costs caused by replacing the suction gripper 100.

[0077] In some embodiments, the adsorption element 20 is provided with a plurality of mutually isolated cavities 203 . Each cavity 203 has a vacuum inlet 2031 . Each cavity 203 is connected to an adsorption hole 202 in an adsorption area 2011 .

[0078] The multiple cavities 203 are isolated from each other, that is, the multiple cavities 203 are separated from each other and not connected to each other. Each cavity 203 has a vacuum access port 2031, and the cavity 203 is connected to the vacuum generator 50 through the vacuum access port 2031, so that each cavity 203 can independently control its negative pressure state.

[0079] Each cavity 203 is corresponding to an adsorption area 2011 , and the cavity 203 is connected to the adsorption hole 202 in the adsorption area 2011 . When the cavity 203 is under negative pressure, the adsorption area 2011 corresponding to the cavity 203 can adsorb the workpiece under the negative pressure.

[0080] By adopting the above technical solution, the interior of the adsorption member 20 is provided with multiple mutually isolated cavities 203 and each cavity 203 has a vacuum inlet 2031, so that each cavity 203 can independently control its vacuum degree, and then control the adsorption area corresponding to the cavity 203 to adsorb the workpiece.

[0081] In other embodiments, the adsorption holes 202 may be directly connected to a vacuum generator to control the adsorption holes 202 to adsorb the workpiece.

[0082] In some embodiments, at least two adsorption regions 2011 have different sizes.

[0083] The surface of the adsorption part 20 has a plurality of adsorption areas 2011, and the number of adsorption areas 2011 can be two, three, four, five or more than five. Among them, at least two adsorption areas 2011 have different sizes, and the adsorption areas 2011 of different sizes correspond to workpieces of one size, so that the adsorption gripper 100 can adsorb workpieces of at least two sizes. It can be understood that the two adsorption areas 2011 of different sizes can have the same shape or different shapes. For example, the adsorption part 20 is provided with two rectangular adsorption areas 2011, and the two adsorption areas 2011 have different lengths, different widths, or different lengths and widths. For another example, the adsorption part 20 is provided with a square adsorption area 2011 and a strip-shaped adsorption area 2011, and the sizes of the two are also different.

[0084] like Figure 4 As shown, in some embodiments, the suction surface 201 is provided with five suction areas 2011. One suction area 2011 is an elongated strip, two suction areas 2011 are both square and arranged side by side on one side of the elongated strip, and two other suction areas 2011 are both square and arranged side by side on the other side of the elongated strip. The five suction areas 2011 are all of different sizes, so the suction gripper 100 can absorb workpieces of at least five different sizes.

[0085] By adopting the above technical solution, at least two adsorption areas 2011 can adapt to workpieces of at least two sizes, thereby improving the compatibility of the adsorption gripper 100 .

[0086] In other embodiments, the multiple adsorption areas 2011 of the adsorption gripper 100 may also have the same size. In this case, by changing the number of cavities 203 with negative pressure, different numbers of adsorption areas 2011 can be used to adsorb workpieces of different sizes.

[0087] Please refer to Figures 1 to 3 In some embodiments, the suction gripper 100 further includes a plurality of vacuum generators 50 disposed on the base 10 , and the vacuum generators 50 are connected to the vacuum inlets 2031 in a one-to-one correspondence, so that the vacuum generators 50 are connected to the cavities 203 in a one-to-one correspondence.

[0088] The vacuum generator 50 is a highly efficient, compact vacuum component that utilizes a positive pressure gas source to generate negative pressure, which makes it very easy and convenient to obtain negative pressure in places where compressed air is available, or where both positive and negative pressures are required in a pneumatic system.

[0089] The number of vacuum generators 50 is the same as the number of cavities 203. Multiple vacuum generators 50 are connected to multiple cavities 203 in a one-to-one correspondence, so that each vacuum generator 50 can control the negative pressure state in a cavity 203, and then control an adsorption area 2011 to generate adsorption force.

[0090] By adopting the above technical solution, multiple vacuum generators 50 are arranged on the base 10 and can move with the base 10 and the adsorption component 20; each vacuum generator 50 can control an adsorption area 2011 to generate adsorption force, and labels of different sizes can be started by controlling different vacuum generators 50 to achieve compatibility and automatic type change.

[0091] In other embodiments, the vacuum generator 50 is not limited to being disposed on the base 10 . For example, the vacuum generator 50 may also be disposed on the robot body or other locations.

[0092] Please refer to Figure 2 and Figure 3 In some embodiments, the adsorbent 20 includes a suction cup body 21 and a sealing plate 22 sealed to the suction cup body 21. A cavity is provided in the suction cup body 21 and a partition 211 is provided in the cavity. The partition 211 divides the cavity into a plurality of mutually isolated cavities 203; the sealing plate 22 is covered on the suction cup body 21, and the vacuum inlet 2031 is provided on the suction cup body 21 or the sealing plate 22.

[0093] The suction cup body 21 can be a square plate or other shapes; the adsorption hole 202 is provided on the side of the suction cup body 21 away from the sealing plate 22. It can be understood that the adsorption hole 202 can also be provided on other sides of the suction cup body 21.

[0094] The suction cup body 21 is provided with a cavity for forming the cavity 203 . The sealing plate 22 is sealedly connected to the suction cup body 21 . The sealing plate 22 is adapted to the shape of the suction cup body 21 and covers the cavity of the suction cup body 21 to seal the cavity 203 .

[0095] like Figure 2 As shown, the vacuum inlet 2031 is provided on the sealing plate 22. It can be understood that a gas channel connecting the cavity 203 and the vacuum inlet 2031 is provided in the sealing plate 22; the vacuum inlet 2031 can also be provided on the suction cup body 21, that is, the vacuum inlet 2031 is directly connected to the cavity 203.

[0096] By adopting the above technical solution, the adsorption member 20 includes a suction cup body 21 and a sealing plate 22. The partition 211 in the suction cup body 21 divides the cavity into multiple cavities 203. The structure of the adsorption member 20 is relatively simple and the cost is low.

[0097] Please refer to Figure 1 In some embodiments, the adsorption component 20 can move relative to the base 10 along a first direction, where the first direction is the arrangement direction of the base 10 and the adsorption component 20 .

[0098] Optionally, the first direction is perpendicular to the adsorption surface 201. In this embodiment, the first direction is the direction of gravity, that is, Figure 1The Z direction in .

[0099] The adsorbent 20 is movable relative to the base 10 in a first direction Z, allowing it to move toward or away from the base 10. The base 10 can drive the adsorbent 20 to move above the product to be attached, and the base 10 can also drive the adsorbent 20 toward the product. Since the adsorbent 20 is movable relative to the base 10 in the first direction Z, when the adsorbent 20 is pressed against the product, the adsorbent 20 can move relative to the base 10 to adjust its height, thereby preventing damage to the product from overpressure.

[0100] In some embodiments, the adsorption gripper 100 also includes a floating component 30, the floating component 30 includes a connecting block 31, a guide rod 32 and an elastic member 33, the connecting block 31 is fixed to the side of the adsorption component 20 facing the base 10, the guide rod 32 extends along the first direction Z, one end of the guide rod 32 is fixedly connected to one of the base 10 and the connecting block 31, and the other end of the guide rod 32 is movably connected to the other of the base 10 and the connecting block 31, and the elastic member 33 is sleeved on the guide rod 32 and elastically resists the connecting block 31.

[0101] The floating assembly 30 is used to connect the base 10 and the adsorption member 20 and enable the adsorption member 20 to move relative to the base 10 and reset after movement. The connecting block 31 is fixedly connected to the adsorption member 20, specifically, the connecting block 31 is fixedly connected to the sealing plate 22.

[0102] The guide rod 32 is used to guide the movement direction of the adsorption part 20 so that the adsorption part 20 moves along the first direction Z; in this embodiment, one end of the guide rod 32 is fixedly connected to the connecting block 31 and the other end is movably passed through the base 10, which is conducive to the flexible movement of the guide rod 32 and the guide rod 32 is not easy to hit the adsorption part 20; in other embodiments, one end of the guide rod 32 can also be fixedly connected to the base 10 and the other end can be movably connected to the connecting block 31.

[0103] The elastic member 33 can be a spring, such as a rectangular spring. It is understood that the elastic member 33 can also be an elastic foam or other elastically deformable element. The elastic member 33 elastically abuts against the connecting block 31. The elastic member 33 can be elastically deformed along the first direction Z, which can not only make the adsorption member 20 better fit the workpiece or product, but also avoid overpressure. For example, when the height of the product exceeds a preset height, the elastic member 33 can be compressed, so that the distance between the adsorption member 20 and the base 10 is reduced to avoid crushing the product. In some embodiments, the deformation stroke of the elastic member 33 is 1 cm-3 cm.

[0104] Optionally, the connection block 31 is fixed to the side of the adsorption member facing the base 10 . The connection block 31 can be fixed to the adsorption member 20 by fasteners such as screws, or can be integrally provided with the adsorption member 20 .

[0105] Optionally, a movable hole is provided on the base 10 , one end of the guide rod 32 is movably inserted into the movable hole, and the other end is fixedly connected to the connecting block 31 .

[0106] By setting up the floating component 30, the adsorption part 20 can move relative to the base 10, so that the height of the adsorption part 20 can be compatible with the change of product height. The above-mentioned adsorption gripper 100 can apply stable pressure to the product, which can not only improve the reliability of label sticking, but also avoid crushing the product.

[0107] In other embodiments, the structure of the floating assembly 30 may also be of other types. For example, the floating assembly 30 only includes the elastic member 33 .

[0108] In some embodiments, the number of guide rods 32 and the number of elastic members 33 are both plural, the multiple guide rods 32 are arranged in parallel and at intervals, and the elastic members 33 are arranged in a one-to-one correspondence with the guide rods 32.

[0109] The number of the guide rods 32 and the number of the elastic members 33 may both be two. In other embodiments, the number of the guide rods 32 and the number of the elastic members 33 may both be three, four, or more than four.

[0110] By providing a plurality of guide rods 32 and elastic members 33 , the balance of the adsorption member 20 during movement can be improved, and the probability of the adsorption member 20 being tilted and unable to adsorb the workpiece can be reduced.

[0111] In some embodiments, the plurality of guide rods 32 are connected together by connecting rods.

[0112] The connecting rod can be located at the end of the guide rod 32 close to the base 10, at the end of the guide rod 32 close to the connecting block, or at the middle of the guide rod 32. By connecting multiple guide rods 32 together through the connecting rod, the multiple guide rods can move synchronously, so that the adsorption surface 201 can be set horizontally, which facilitates the adsorption surface 201 to fit the workpiece.

[0113] Please refer to Figure 1 In some embodiments, the adsorption gripper 100 further includes a visual detection module 40 disposed on the base 10 , and the visual detection module 40 is used to identify the workpiece to be adsorbed and / or detect the position of the workpiece to be attached.

[0114] The visual inspection module 40 is provided on the base 10 and can move with the base 10 and the suction member 20. The visual inspection module 40 can obtain a variety of information by taking pictures. Specifically, the visual inspection module 40 can identify the workpiece to be sucked. For example, the visual inspection module 40 can identify the label and obtain label information by taking a picture of the label. The label information includes at least one of the label content, size information, and specification information. Thus, the suction gripper 100 can move the suction area 2011 adapted to the label above the label and use the corresponding suction area 2011 to suck the workpiece. By identifying the workpiece by the visual inspection module 40, it can also prevent the suction gripper 100 from grabbing the wrong workpiece.

[0115] The visual inspection module 40 can also detect the location of the workpiece to be attached. For example, if the suction gripper 100 needs to attach a label to a product, the visual inspection module 40 can take a photo of the product to obtain the location information of the area to be attached, so that the suction gripper 100 can accurately locate the area to be attached. The visual inspection module 40 can also perform other inspections by taking photos. For example, the visual inspection module 40 can take a photo of the product to which the workpiece is attached for verification and archiving.

[0116] By providing the visual detection module 40 , the adsorption gripper 100 can identify the position of the workpiece and / or the product to which the workpiece is to be attached, thereby improving the functionality of the adsorption gripper 100 .

[0117] In some embodiments, a through hole 111 is provided on the base 10; the visual inspection module 40 includes an image acquisition device 41 and a light source 42. The image acquisition device 41 is provided on the side of the base 10 away from the adsorption member 20 and is provided corresponding to the through hole 111. The image acquisition device 41 is used to take a picture of the workpiece or the product to be attached to the workpiece. The light source 42 is provided adjacent to the image acquisition device 41.

[0118] Image acquisition device 41 may be a CCD camera. CCD, short for charge coupled device, converts light into electrical charge, stores and transfers the charge, and can also extract the stored charge to generate a voltage change. Therefore, it is an ideal camera component. Image acquisition device 41 constructed with this CCD is widely used due to its small size, light weight, immunity to magnetic fields, and resistance to vibration and impact. Image acquisition device 41 may also be another type of camera, such as a CMOS (Complementary Metal-Oxide Semiconductor) camera.

[0119] The image capture device 41 and the suction member 20 are connected to opposite sides of the base 10, respectively, so that the image capture device 41 does not hinder the suction member 20 from adsorbing the workpiece. The image capture device 41 is positioned corresponding to the through hole 111 on the base 10, so that the image capture device 41 can be directed toward the workpiece or product through the through hole 111 to take a picture. A light source 42 is positioned adjacent to the image capture device 41 and can be a bar light source 42, a ring light source 42, or the like. Optionally, a receiving slot is provided within the base 10, and the light source 42 is secured within the receiving slot. In other embodiments, the light source 42 can also be directly secured to the surface of the base 10.

[0120] By adopting the above technical solution, the visual inspection module 40 can take pictures of the workpiece and the product through the through hole 111 on the base 10, and the visual inspection module 40 can avoid the adsorption part 20 and will not hinder the adsorption part 20 from adsorbing the workpiece.

[0121] In some embodiments, the visual inspection module further includes a camera protection cover 43 , which is disposed on the base 10 and surrounds the image acquisition device 41 .

[0122] By adopting the above technical solution, the camera protection cover 43 can protect the image acquisition device and improve the safety of the image acquisition device.

[0123] In some embodiments, the light source 42 surrounds the circumference of the image acquisition device 41 .

[0124] Optionally, a receiving groove is provided in the base 10 , and the light source 42 is fixed in the receiving groove. The light source 42 is annular and surrounds the circumference of the image acquisition device 41 .

[0125] By adopting the above technical solution, the light source 42 can provide uniform light for the image acquisition device 41 .

[0126] Please refer to Figures 1 to 4 In some embodiments, the suction gripper 100 includes a base 10 and a suction member 20 connected to the base 10. The surface of the suction member 20 has multiple suction areas 2011, each of which is provided with a suction hole 202. The interior of the suction member 20 is provided with multiple mutually isolated cavities 203, each of which has a vacuum inlet 2031, and each cavity 203 is connected to a suction hole 202 in a suction area 2011. The suction member 20 has a suction surface 201, and multiple suction areas 2011 are located on the suction surface 201. At least two of the suction areas 2011 have different sizes. The suction gripper 100 can absorb workpieces of various sizes through different suction areas 2011, has high compatibility, and is conducive to improving production efficiency and reducing production costs.

[0127] Furthermore, the suction gripper 100 further includes a floating assembly 30 , which includes a connecting block 31 , a guide rod 32 and an elastic member 33 . The suction member 20 can float relative to the base 10 to avoid crushing the product.

[0128] Please refer to Figures 1 to 5 An embodiment of the second aspect of the present application provides a manipulator 300, comprising a suction gripper 100 and a manipulator body 200 as provided in the first aspect, wherein the manipulator body 200 is connected to the suction gripper 100 and is used to drive the suction gripper 100 to move.

[0129] Specifically, the robot body 200 is connected to the base 10 to drive the adsorption component 20 to move through the base 10 .

[0130] The manipulator 300 provided in the embodiment of the present application includes a suction gripper 100 and a manipulator body 200. The manipulator body 200 can drive the suction gripper 100 to move, so that the manipulator 300 can not only adsorb workpieces, but also transport and attach workpieces; since the suction gripper 100 is compatible with workpieces of various sizes, when the workpiece is changed, there is no need to remove and replace the suction gripper 100 from the manipulator body 200, which improves the compatibility and work efficiency of the manipulator.

[0131] In some embodiments, the robot body 200 is a four-axis robot that can drive the suction gripper 100 to move in three dimensions and rotate about a first direction, so that the suction member 20 can be attached to the workpiece or product.

[0132] A four-axis robot is an automated device used on industrial production lines. It typically consists of four joints, or axes, each of which can be motion-controlled, giving the robot greater flexibility. Four-axis robots have a high degree of rigidity, enabling them to perform high-speed and highly repetitive tasks.

[0133] Please refer to Figures 1 to 5 The embodiment of the third aspect of the present application provides an automatic labeling device 1000, comprising the manipulator 300, the fixing mechanism 400, and the label printing mechanism 500 as provided in the second aspect. The fixing mechanism 400 is used to fix the product, the label printing mechanism 500 is used to print the label, the manipulator body 200 is used to drive the suction gripper 100 to move between the label printing mechanism 500 and the fixing mechanism 400, and the suction gripper 100 is used to suck the label on the label printing mechanism 500 and attach the label to the product.

[0134] The automatic labeling device 1000 further includes a frame 600, on which the robot 300, the fixing mechanism 400 and the label printing mechanism 500 are all disposed. The fixing mechanism 400 may include a variety of structures capable of fixing products, such as a tray, a positioning member, and the like.

[0135] During labeling, the label printing mechanism 500 prints the label, and the robot body 200 drives the adsorption gripper 100 to move to the label printing mechanism 500. The adsorption gripper 100 can adsorb the label, and the visual inspection module 40 takes a picture of the label to obtain the label information, and guides the adsorption gripper 100 to use the adsorption area 2011 corresponding to the label to adsorb the label; the robot body 200 drives the adsorption gripper 100 to move from the label printing mechanism 500 to above the fixing mechanism 400, and the visual inspection module 40 takes a picture of the product to obtain the pasting position, and the robot body 200 drives the adsorption gripper 100 to move toward the pasting position so that the adsorption gripper 100 attaches the adsorbed label to the product; after attaching the label, the visual inspection module 40 can also take a picture of the product with the label to verify and keep it on file.

[0136] The automatic labeling equipment 1000 provided in the embodiment of the present application can automatically print labels, grab labels and attach labels, and has high production efficiency; since the adsorption gripper 100 is compatible with labels of different sizes, the automatic labeling equipment 1000 can automatically attach labels of various sizes, and there is no need to frequently replace the adsorption gripper 100 when the product is changed, thereby reducing the problem of wasted production time and increased material preparation costs caused by replacing the adsorption gripper 100, improving production efficiency and reducing production costs.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A suction gripper, characterized in that: include: base; An adsorption member is connected to the base, and the adsorption member has an adsorption surface, on which a plurality of adsorption areas are provided, and the adsorption member has adsorption holes in the adsorption areas; a plurality of mutually isolated cavities are provided inside the adsorption member, each of the cavities has a vacuum access port, and each of the cavities is connected to the adsorption hole in one of the adsorption areas.

2. The suction gripper according to claim 1, characterized in that: At least two of the adsorption regions have different sizes.

3. The suction gripper according to claim 1, characterized in that: The adsorption gripper further includes a plurality of vacuum generators provided on the base, and the vacuum generators are connected to the vacuum inlets in a one-to-one correspondence.

4. The suction gripper according to claim 1, characterized in that: The adsorption component includes a suction cup body and a sealing plate sealedly connected to the suction cup body, a cavity is provided in the suction cup body and a partition is provided in the cavity, and the partition divides the cavity into a plurality of cavities; the sealing plate cover is provided on the suction cup body, and the vacuum inlet is provided on the suction cup body or the sealing plate.

5. The adsorption gripper according to any one of claims 1 to 4, characterized in that: The adsorption component can move relative to the base along a first direction, and the first direction is an arrangement direction of the base and the adsorption component.

6. The adsorption gripper according to claim 5, characterized in that: The adsorption gripper also includes a floating component, which includes a connecting block, a guide rod and an elastic member. The connecting block is connected to the adsorption member, and the guide rod extends along the first direction. One end of the guide rod is fixedly connected to the base and one of the connecting block, and the other end of the guide rod is movably connected to the base and the other of the connecting block. The elastic member is sleeved on the guide rod and elastically supports the connecting block.

7. The adsorption gripper according to claim 6, characterized in that: The number of the guide rods and the number of the elastic members are both multiple, the multiple guide rods are arranged in parallel and at intervals, and the elastic members are arranged in a one-to-one correspondence with the guide rods.

8. The adsorption gripper according to claim 6, characterized in that: The plurality of guide rods are connected together through connecting rods.

9. The adsorption gripper according to any one of claims 1 to 4, characterized in that: The adsorption gripper further includes a visual detection module disposed on the base, and the visual detection module is used to identify the workpiece to be adsorbed and / or detect the position of the workpiece to be attached.

10. The adsorption gripper according to claim 9, characterized in that: A through hole is provided on the base; the visual inspection module includes an image acquisition device and a light source, the image acquisition device is provided on the side of the base away from the adsorption component and is arranged corresponding to the through hole, the image acquisition device is used to take pictures of the workpiece or the product to be attached to the workpiece, and the light source is arranged adjacent to the image acquisition device.

11. The suction gripper according to claim 10, characterized in that: The visual inspection module further includes a camera protection cover, which is arranged on the base and surrounds the circumference of the image acquisition device.

12. The suction gripper according to claim 10, characterized in that: The light source surrounds the circumference of the image acquisition device.

13. A robot, characterized in that: include: The adsorption gripper according to any one of claims 1 to 12; The robot body is connected to the adsorption gripper and is used to drive the adsorption gripper to move.

14. An automatic labeling device, characterized in that: include: The manipulator according to claim 13; A fixing mechanism for fixing the product; A label printing mechanism, for printing labels; The robot body is used to drive the adsorption gripper to move between the label printing mechanism and the fixing mechanism, and the adsorption gripper is used to adsorb the label on the label printing mechanism and attach the label to the product.

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