Sucker clamp and robot

Abstract

The utility model discloses a suction cup clamp and a robot. The technical problem that in the prior art, in the goods clamping process of a suction cup clamp, the goods falling risk is large is solved. The suction cup clamp comprises a frame used for being connected with a robot; a supporting plate; the suction cup assembly is fixed to the frame; the transverse moving mechanism is connected to the frame and connected to the output end of the transverse moving mechanism, the transverse moving mechanism is used for driving the supporting plate to reciprocate in the first direction, the lifting mechanism is used for driving the supporting plate to reciprocate in the height direction so that the supporting plate can be switched between a clamping position and a waiting position, and an angle is formed between the first direction and the height direction; under the condition that the supporting plate is located at the clamping position, the suction cup assembly and the supporting plate are arranged at intervals in the height direction, so that a space for clamping goods is formed; and when the supporting plate is located at the waiting position, the suction cup assembly is not higher than the supporting plate, so that goods can be sucked conveniently. According to the suction cup clamp, the risk that goods fall off is reduced.

Description

Technical Field

[0001] This application belongs to the field of suction cup clamping technology, specifically relating to a suction cup clamping device and a robot. Background Technology

[0002] Cargo clamps are key components for loading and unloading cargo in manufacturing enterprises and logistics companies. They are mainly used to carry, fix, and transfer target cargo. For goods such as cardboard boxes and woven bags, sponge suction cup clamps are usually used, which use vacuum suction cups to pick up the surface of the cargo to achieve cargo transfer.

[0003] In related technologies, vacuum suction cup clamps include a vacuum generator, a suction cup, a compressed air source, and a cylinder that drives the suction cup to rise and fall. The vacuum generator is a device that uses compressed air as power to create a vacuum in the suction cup. During the process of the suction cup adsorbing goods, the suction cup first holds the top of the goods, and then the cylinder moves to lift the goods. Since the vacuum generator and the cylinder use the same compressed air source, when the cylinder drives the suction cup and the goods to rise at a certain acceleration, the air source has to allocate a portion of the compressed air to the cylinder. Therefore, the power of the vacuum generator will change at the moment the cylinder starts, and the vacuum degree of the suction cup will decrease. Combined with the accelerated upward movement of the suction cup and the goods, this makes the goods risk falling. Summary of the Invention

[0004] To address the technical problem of high risk of goods falling during the gripping process of current suction cup clamps, this application provides a suction cup clamp and a robot.

[0005] In a first aspect of this application, a suction cup clamp is provided, comprising:

[0006] A frame for connecting to the robot;

[0007] pallet;

[0008] A suction cup assembly for adsorbing the top of the goods and fixed to the frame;

[0009] A lateral movement mechanism and a lifting mechanism are provided. The lateral movement mechanism is connected to the frame, and the output end of the lateral movement mechanism is connected to the output end of the lateral movement mechanism. The lateral movement mechanism is used to drive the pallet to reciprocate along a first direction, and the lifting mechanism is used to drive the pallet to reciprocate along a height direction, so that the pallet switches between a clamping position and a waiting position. The first direction is set at an angle to the height direction.

[0010] When the pallet is in the clamping position, the suction cup assembly is spaced apart from the pallet along the height direction to form a space for clamping the goods; when the pallet is in the waiting position, the height of the suction cup assembly is not higher than the height of the pallet to facilitate adsorption of the goods.

[0011] In some embodiments, the suction cup assembly includes a suction cup and a mounting plate, the suction cup being fixed to the frame via the mounting plate.

[0012] In some embodiments, multiple suction cups are provided, and the multiple suction cups are distributed sequentially along a second direction, which is perpendicular to the first direction.

[0013] In some embodiments, the suction cup assembly further includes a cable chain, a wiring harness, and a solenoid valve for controlling the vacuum state within the suction cup. One end of the cable chain is connected to the frame and / or the mounting plate and is close to the solenoid valve, while the other end is connected to the output end of the traversing mechanism. The wiring harness is electrically connected to the solenoid valve and is located within the cable chain.

[0014] In some embodiments, the traversing mechanism is used to drive the tray to switch between the clamping position and the transition position, and the lifting mechanism is used to drive the tray to switch between the waiting position and the transition position.

[0015] In some embodiments, the lifting mechanism includes a first telescopic member and a guide rod. The fixed end of the first telescopic member is connected to the output end of the transverse mechanism via a bracket. The telescopic end of the first telescopic member is connected to the support plate. The bracket is provided with a sliding hole. One end of the guide rod slides through the sliding hole, and the other end is connected to the support plate. The bracket is connected to the output end of the transverse mechanism.

[0016] In some embodiments, the traversing mechanism includes a second telescopic member and a slide rail both connected to the frame. The telescopic end of the second telescopic member constitutes the output end. The bracket is provided with a slide groove that cooperates with the slide rail, and the bracket is slidably connected to the slide groove.

[0017] In some embodiments, there are two slide rails and two guide rods, with the two slide rails located on both sides of the second telescopic member and the two guide rods located on both sides of the first telescopic member.

[0018] In some embodiments, the device further includes a sensor for detecting whether the tray has reached the clamping position, and the traversing mechanism further includes a second contact sensor for detecting whether the tray has reached the waiting position. The suction cup clamp also includes a controller, and both the first contact sensor and the second contact sensor are electrically connected to the controller.

[0019] In a second aspect of this application, a robot is provided, including a body and a suction cup gripper as described in the first aspect, wherein the robotic arm of the body is connected to the suction cup gripper.

[0020] According to the embodiments of this application, the suction cup clamp includes a frame, a tray, a suction cup assembly, a lateral movement mechanism, and a lifting mechanism. The suction cup assembly is used to adsorb the top of the goods and is fixed to the frame. The lateral movement mechanism is connected to the frame, and the lifting mechanism is connected to the output end of the lateral movement mechanism. The lateral movement mechanism is used to drive the tray to reciprocate along a first direction, and the lifting mechanism is used to drive the tray to reciprocate along a second direction, so that the tray switches between a clamping position and a waiting position. The first direction is set at an angle to the height direction.

[0021] When the pallet is in the clamping position, the suction cup assembly and the pallet are spaced apart along the height direction to create space for clamping the goods. This arrangement, with the suction cups on top and the pallet below, secures the goods, resulting in greater stability and reducing the risk of them falling. When the pallet is in the waiting position, the height of the suction cup assembly is no higher than the height of the pallet; that is, the suction cup assembly and the pallet are at the same height, or the suction cup assembly is lower and the pallet is higher. This avoids interference between the goods and the pallet and improves the ease with which the suction cup assembly can pick up goods.

[0022] In the operation of the suction cup gripper of this application, the entire suction cup gripper first moves down until the suction cup contacts the top of the goods. Then, the suction cup assembly picks up the goods, and the entire suction cup gripper is lifted a certain distance by the robot and comes to a stop. Then, the lifting mechanism and the traversing mechanism drive the suction cup from the waiting position to the gripping position. The goods are gripped by the suction cup assembly and the pallet, and then the robot transports the suction cup gripper and the goods. Since the lifting and lowering of the suction cup assembly relies on the robot, and the position change of the pallet relies on the traversing mechanism and the lifting mechanism, and the lifting and lowering phase of the suction cup assembly occurs first, followed by the position adjustment phase of the pallet, the risk of falling due to the acceleration of the suction cup assembly during its ascent and the risk of falling due to the movement of the lifting / traversing components are distributed across different stages. Compared to the risk of goods falling due to the acceleration of the suction cup assembly during its ascent, combined with the risk of goods falling due to the instantaneous decrease in vacuum pressure caused by the cylinder movement, the suction cup assembly of this application experiences less interference while maintaining an adsorption state with the goods, resulting in higher goods stability and reducing the risk of goods falling. Attached Figure Description

[0023] Figure 1 A schematic diagram of the suction cup clamp in one or more embodiments of this application is shown.

[0024] Figure 2 It shows Figure 1 A schematic diagram of the suction cup clamp from another angle.

[0025] Figure 3 It shows Figure 1 Assembly diagram of the suction cup, solenoid valve and mounting plate.

[0026] Figure 4 It shows Figure 1 Exploded view of the lateral movement mechanism and lifting mechanism of the suction cup clamp.

[0027] Figure 5 It shows Figure 1 A schematic diagram of the tray structure.

[0028] Figure 6 It shows Figure 1 Assembly drawings of the frame, the first protective cover, and the second protective cover.

[0029] Figure 7 It shows Figure 1 A schematic diagram of the suction cup clamp when the tray is in the waiting position.

[0030] Figure 8 It shows Figure 1 A schematic diagram of the suction cup clamp reaching the top of the goods.

[0031] Figure 9 It shows Figure 1 A schematic diagram of the suction cup clamp with the support plate in the transition position.

[0032] Figure 10 It shows Figure 1 A schematic diagram of the suction cup clamp with the support plate in the clamping position.

[0033] Explanation of reference numerals in the attached figures:

[0034] 10-Frame, 20-Pattern, 201-Fork tooth, 202-Fork tooth mounting plate, 30-Suction cup assembly, 301-Suction cup, 302-Mounting plate, 303-Drag chain, 304-Solenoid valve, 40-Transverse mechanism, 401-Second telescopic component, 402-Slide rail, 403-Second limit rod, 404-Second contact sensor, 405-Second protective cover, 50-Lifting mechanism, 501-Second telescopic component, 502-Guide rod, 503-Bracket, 504-First limit rod, 505-First contact sensor, 506-First protective cover. 70-Mounting base. 80-Cargo. Detailed Implementation

[0035] To enable those skilled in the art to more clearly understand this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0036] According to a first aspect of this application, a suction cup clamp is provided. During the process of clamping goods, the suction cup 301 picks up the goods and clamps them by moving the pallet up and down and left and right, thereby reducing the risk of the goods falling.

[0037] Please see Figure 1 as well as Figure 2 The suction cup clamp provided in this application includes a frame 10, a support plate 20, a suction cup assembly 30, a horizontal movement mechanism 40, and a lifting mechanism 50.

[0038] The frame 10 serves as the mounting base for the suction cup assembly 30 and the traversing mechanism 40. It can be either a plate structure or a frame structure and is connected to the robot. The pallet 20 is the structure that supports the cargo 80. Its position changes, i.e., switching between the gripping position and the waiting position, are achieved by the traversing mechanism 40 and the lifting mechanism 50.

[0039] The suction cup assembly 30 is used to adsorb the top of the cargo 80 and is fixed to the frame 10. The suction cup assembly 30 can adsorb the cargo 80 by drawing a vacuum with a vacuum pump, or it can be connected to a compressed air source through a vacuum generator. The vacuum generator relies on the compressed air source as power to draw a vacuum on the suction cup assembly 30.

[0040] The lateral movement mechanism 40 is connected to the frame 10, and the lifting mechanism 50 is connected to the output end of the lateral movement mechanism 40. The lateral movement mechanism 40 drives the lifting mechanism 50 and the pallet 20 to reciprocate along a first direction, and the lifting mechanism 50 drives the pallet 20 to reciprocate along the height direction. Therefore, under the combined action of the lateral movement mechanism 40 and the lifting mechanism 50, the pallet 20 can switch between a clamping position and a waiting position. The first direction is set at an angle to the height direction, for example, the first direction is perpendicular to the height direction, or at 85°, etc.

[0041] When the pallet 20 is in the clamping position, the suction cup assembly 30 and the pallet 20 are spaced apart along the height direction to form a space for clamping the goods 80. This arrangement, with the suction cup 301 on top and the pallet 20 below, secures the goods 80, resulting in greater clamping stability and reducing the risk of falling. When the pallet 20 is in the waiting position, the height of the suction cup assembly 30 is no higher than the height of the pallet 20; that is, the heights of the suction cup assembly 30 and the pallet 20 are the same, or the suction cup assembly 30 is slightly lower and the pallet 20 is slightly higher. This avoids interference between the goods 80 and the pallet 20 and improves the ease with which the suction cup assembly 30 can pick up the goods 80.

[0042] The suction cup assembly 30 serves as the suction structure for the goods 80; in some embodiments, please refer to [reference needed]. Figure 3The suction cup assembly 30 includes a suction cup 301 and a mounting plate 302. The suction cup 301 is fixed to the frame 10 via the mounting plate 302 to achieve the installation of the suction cup 301. In specific implementations, the mounting plate 302 and the frame 10 can be screwed or welded together. The suction cup 301 and the mounting plate 302 can be screwed or snapped together to facilitate the replacement or maintenance of the suction cup 301. In other embodiments, the suction cup 301 can also be connected to the frame 10 via a mounting bracket, or the suction cup 301 can be directly fixed to the frame 10, both of which can achieve the fixation of the suction cup 301. When the tray 20 is in the waiting position, the height of the suction cup 301 is not higher than the height of the tray 20, so that the suction cup 301 can pick up the goods 80.

[0043] In some embodiments, please refer to Figure 3 Multiple suction cups 301 can be provided, such as three, five, or eight, etc. These suction cups 301 are distributed sequentially along a second direction, which is perpendicular to the first direction. That is, the distribution direction of the suction cups 301 is perpendicular to the lateral movement direction of the pallet 20, in order to pick up a larger number of goods 80. In other embodiments, a single suction cup 301 can also be provided, with multiple suction areas distributed sequentially along the second direction, still enabling the picking up of multiple goods 80.

[0044] Please see Figure 2 as well as Figure 4 The suction cup assembly 30 also includes a cable chain 303, a wiring harness, and a solenoid valve 304. One end of the cable chain 303 is connected to the frame 10 and / or mounting plate 302 and is close to the solenoid valve 304, while the other end is connected to the output end of the traversing mechanism 40. The wiring harness is electrically connected to the solenoid valve 304 and is located within the cable chain 303. The cable chain 303 is a flexible chain, which can constrain and protect the wiring harness when the output end of the traversing mechanism 40 is activated. The wiring harness is a structure used to realize the electrical connection between the drive mechanism and the actuator. For example, the solenoid valve 304, the traversing mechanism 40, and the lifting mechanism 50 are all electrically connected to the controller via the wiring harness. The solenoid valve 304 is an electrically controlled switch that can control the gas pressure in the suction cup 301 to pick up or lower the cargo 80.

[0045] In some embodiments, please refer to Figure 5The pallet 20 includes fork tines 201 and fork tine mounting plate 202. Multiple fork tines 201 are provided, for example, ten, fifteen, or twenty. All fork tines 201 are connected to the fork tine mounting plate 202 and are arranged sequentially along the second direction to grip more goods 80. The fork tine mounting plate 202 is connected to the output end of the lifting mechanism 50, that is, the fork tine mounting plate 202 is connected to the telescopic end of the first telescopic member 501. The cross-section of the fork tines 201 can be rectangular, circular, or other shapes, and its length is greater than half the length of the goods 80. Similarly, several fork tines 201 can be arranged as needed, with a certain distance between each pair of fork tines 201. The fork tines 201 are arranged in a straight line and fixedly installed perpendicular to the fork tine mounting plate 202 to form a whole.

[0046] The lateral movement mechanism 40 and the lifting mechanism 50 work together to switch the pallet 20 between the clamping position and the waiting position. In some embodiments, the lateral movement mechanism 40 drives the pallet 20 to switch between the clamping position and the transition position, while the lifting mechanism 50 drives the pallet 20 to switch between the waiting position and the transition position. That is, during operation, the pallet 20 first descends from the waiting position to the transition position under the drive of the lifting mechanism 50, and then moves laterally from the transition position to the clamping position under the action of the lateral movement mechanism 40, forming an L-shaped movement path. In other embodiments, the lateral movement mechanism 40 and the lifting mechanism 50 can operate simultaneously, causing the pallet 20 to switch between the clamping position and the waiting position, forming an arc-shaped movement path. However, it is important to note that when the lateral movement mechanism 40 and the lifting mechanism 50 operate simultaneously, the pallet 20 and the cargo 80 should maintain a sufficient distance along the first direction to avoid interference between them.

[0047] The lifting mechanism 50 serves as a structure that drives the pallet 20 to reciprocate along the height direction. In some embodiments, please refer to [reference needed]. Figure 2 as well as Figure 4 The lifting mechanism 50 includes a first telescopic member 501 and a guide rod 502. The fixed end of the first telescopic member 501 is connected to the output end of the transverse mechanism 40 via a bracket 503. The bracket 503 has a sliding hole. One end of the guide rod 502 slides through the sliding hole, and the other end is connected to the support plate 20. The bracket 503 is connected to the output end of the transverse mechanism 40. The telescopic end of the first telescopic member 501 is connected to the support plate 20. Therefore, the telescopic movement of the first telescopic member 501, such as a cylinder, electric cylinder, or hydraulic cylinder, drives the support plate 20 to reciprocate along the height direction. The sliding hole and guide rod 502 improve the stability of the reciprocating movement of the support plate 20 along the height direction. In some embodiments, the lifting mechanism 50 can also be a screw-slider mechanism, in which a motor drives the screw to rotate, thereby driving the support plate 20 connected to the slider to reciprocate along the height direction.

[0048] In some embodiments, two guide rods 502 may be provided, with the two guide rods 502 located on both sides of the first telescopic member 501 along the second direction, so as to further improve the stability of the pallet 20 reciprocating along the height direction.

[0049] The lateral movement mechanism 40 serves as a structure that drives the lifting mechanism 50 and the pallet 20 to reciprocate along a first direction. In some embodiments, please refer to [reference needed]. Figure 2 as well as Figure 4 The lateral movement mechanism 40 includes a second telescopic member 401 and a slide rail 402, both connected to the frame 10. The telescopic end of the second telescopic member 401 constitutes the output end of the lateral movement mechanism 40, enabling the lateral movement of the bracket 503, the lifting mechanism 50, and the pallet 20. The bracket 503 is provided with a slide groove that cooperates with the slide rail 402, and the bracket 503 is slidably connected to the slide groove to improve the stability of the bracket 503, the lifting mechanism 50, and the pallet 20 during the lateral movement process. In other embodiments, the lateral movement mechanism 40 can also be a screw-slider mechanism, in which a motor drives the screw to rotate, thereby driving the lateral movement of the bracket 503, the lifting mechanism 50, and the pallet 20.

[0050] In some embodiments, please refer to Figure 4 There are two slide rails 402, which are located on both sides of the second telescopic member 401 along the second direction, so as to further improve the stability of the bracket 503, the lifting mechanism 50 and the pallet 20 during the lateral movement process.

[0051] In some embodiments, please refer to Figure 4 The lifting mechanism 50 also includes a first contact sensor 505 for detecting whether the pallet 20 has reached the waiting position, and the traversing mechanism 40 also includes a second contact sensor 404 for detecting whether the pallet 20 has reached the clamping position. The suction cup clamp also includes a controller, and both the first contact sensor 505 and the second contact sensor 404 are electrically connected to the controller. The first contact sensor 505 is used to detect whether the pallet 20 has reached the waiting position. When the pallet 20 reaches the waiting position, the controller controls the first telescopic member 501 to stop moving, to prevent the first telescopic member 501 from retracting indefinitely and causing damage to the equipment. In a specific implementation, the first contact sensor 505 can be set on the fork tooth mounting plate 202. When the first contact sensor 505 contacts the bracket 503, the pallet 20 has reached the waiting position.

[0052] The second contact sensor 404 is used to detect whether the tray 20 has reached the clamping position. When the tray 20 reaches the clamping position, the controller controls the second telescopic member 401 to stop moving, to prevent the second telescopic member 401 from retracting indefinitely and causing damage to the equipment. In a specific implementation, the second contact sensor 404 can be installed on the bracket 503. When the second contact sensor 404 contacts the reference block on the frame 10, the tray 20 has reached the clamping position.

[0053] In some embodiments, please refer to Figure 4 as well as Figure 5 A first limiting rod 504 is provided on the fork tooth mounting plate 202. When the first contact sensor 505 contacts the bracket 503, the first limiting rod 504 abuts against the bracket 503 to limit the height. In other embodiments, the bracket 503 is provided with a first contact sensor 505 and a first limiting rod 504. When the first contact sensor 505 contacts the fork tooth mounting plate 202, the first limiting rod 504 abuts against the fork tooth mounting plate 202 to limit the height. In some embodiments, there may be multiple first contact sensors 505, such as two, and all of the multiple first contact sensors 505 are provided on the fork tooth mounting plate 202.

[0054] In some embodiments, a second contact sensor 404 and a second limiting rod 403 are provided on the bracket 503. When the second contact sensor 404 contacts the reference block on the frame 10, the second limiting rod 403 abuts against the reference block to limit movement in the first direction.

[0055] In some embodiments, please refer to Figure 6 The bracket 503 is provided with a first protective cover of the protective lifting mechanism 50, and the frame 10 is provided with a second protective cover 405 of the protective transverse movement mechanism 40.

[0056] According to a second aspect of this application, a robot is provided, including a body and a suction cup gripper as described in the first aspect, wherein the robotic arm of the body is connected to the suction cup gripper.

[0057] The robot working process provided in this application is as follows:

[0058] Please see Figure 7 The suction cup gripper is in a waiting state. Upon receiving the instruction, the robot moves the suction cup gripper above the cargo 80 via the mounting base 70, ensuring that the suction cup 301 is directly above the cargo 80. Once in position, the robotic arm moves the suction cup gripper downwards a short distance, causing the suction cup 301 to contact the top surface of the cargo 80 (see...). Figure 8 The negative pressure generated attracts the cargo 80; after the suction cup 301 attracts the cargo 80 and generates a pressure holding signal, the robotic arm moves the suction cup clamp upward a certain distance; then the first telescopic member 501 extends, moving the pallet 20 from the waiting position to the transition position (see...). Figure 9 Then the second telescopic member 401 retracts, causing the first telescopic member 501 and the pallet 20 to move, so that the pallet 20 moves laterally from the transition position to the clamping position (see...). Figure 10At this point, the pallet 20 is below the cargo 80, and the suction cup 301 is above the cargo 80. The two clamp the cargo 80. The robot moves the suction cup clamp holding the cargo 80 to the target position. The first telescopic component 501 moves downward along the guide rod 502, driving the pallet 20 to the bottom. The second telescopic component 401 moves along the guide rail, driving the pallet 20 to the rear of the cargo 80. After reaching the position, the robotic arm drives the suction cup clamp downward a certain distance, so that the cargo 80 is smoothly placed in the target position. At this time, the suction cup 301 releases the vacuum, and the suction cup 301 group separates from the cargo 80.

[0059] This application has at least the following advantages:

[0060] (1) The suction cup clamp can be used for stacking, handling, and loading / unloading of single or multiple goods 80. It can perform suction and release operations from the top of the goods 80, while the lifting mechanism 50 and the lateral movement mechanism 40 move the supporting pallet 20 to achieve clamping and supporting protection of the goods 80. This avoids the goods falling due to unstable suction of the suction cup 301 or accelerated transfer of the goods 80, thus improving work efficiency and reducing the damage rate of the goods 80. Since the suction cup 301 is stationary and only the pallet 20 moves up and down and left and right, the goods 80 remain fixed to the suction cup 301 during the suction process, reducing the risk of the goods 80 falling and breaking during the suction process. Moreover, it has a simple structure, small overall weight, and high reliability.

[0061] (2) The lifting of the suction cup assembly 30 is achieved by the robot, and the lateral movement mechanism 40 and the lifting mechanism 50 do not move during the lifting process of the suction cup assembly 30. Therefore, the lifting process of the suction cup 301 can be separated from the position change process of the pallet 20. Even if the air source used by the first telescopic member 501 and the second telescopic member 401 is the same compressed air source as the air source of the vacuum generator, the interference of the cargo 80 during the lifting process of the suction cup 301 can be reduced, and the stability of the cargo 80 during the adsorption process can be improved.

[0062] (3) Multiple suction cups 301 are provided, with a modular design, which can be independently controlled in sections and move in multiple directions to complete the gripping of single or multiple cartons of goods 80; for the gripping of multiple or heavier goods 80, the suction cups 301 are controlled separately to achieve the gripping of single or multiple goods 80. The suction cup clamp can grip a single goods 80 with a maximum weight of 30kg. If gripping multiple goods 80, its maximum load capacity is 120kg (depending on the selection of vacuum suction cups, the load capacity can be increased to a single goods 50kg and multiple goods 200kg).

[0063] (4) The drive mechanism of the suction cup clamp adopts linear motion and the control program is simple; it can be used in conjunction with industrial robots, column-type depalletizers, etc., and has a wide range of applications; when applied to the loading and unloading process, it can meet both the depalletizing and palletizing operations of goods.

[0064] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0065] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0066] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0067] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0068] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A suction cup gripper, characterized in that The application relates to a suction gripper for a robot, comprising: a frame for connecting with the robot; a supporting plate; a suction disc assembly for sucking the top of a cargo and fixed to the frame; a horizontal moving mechanism connected to the frame and a lifting mechanism connected to the output end of the horizontal moving mechanism, the horizontal moving mechanism being used to drive the supporting plate to reciprocate along a first direction, the lifting mechanism being used to drive the supporting plate to reciprocate along a height direction, so that the supporting plate is switched between a clamping position and a waiting position, the first direction being arranged at an angle with the height direction; wherein, when the supporting plate is in the clamping position, the suction disc assembly is arranged at a height direction interval from the supporting plate to form a space for clamping the cargo, and when the supporting plate is in the waiting position, the height of the suction disc assembly is not higher than the height of the supporting plate, so as to facilitate the suction of the cargo.

2. The suction cup gripper according to claim 1, characterized in that The suction disc assembly comprises a suction disc and a mounting plate, and the suction disc is fixed to the frame through the mounting plate.

3. The suction cup gripper of claim 2, wherein, The suction disc is provided with a plurality of suction discs which are distributed along a second direction in sequence, and the second direction is perpendicular to the first direction.

4. The suction cup gripper of claim 2, wherein, The suction disc assembly further comprises a drag chain, a wire harness and an electromagnetic valve for controlling the suction disc gas passage on-off, one end of the drag chain is connected to the frame and / or the mounting plate and is close to the electromagnetic valve, the other end is connected to the output end of the horizontal moving mechanism, and the wire harness is electrically connected with the electromagnetic valve and is located in the drag chain.

5. The suction cup gripper according to any one of claims 1-4, characterized in that, The horizontal moving mechanism is used to drive the supporting plate to switch between the clamping position and a transition position, and the lifting mechanism is used to drive the supporting plate to switch between the waiting position and the transition position.

6. The suction cup gripper of claim 5, wherein, The lifting mechanism comprises a first telescopic piece and a guide rod, the fixed end of the first telescopic piece is connected to the output end of the horizontal moving mechanism through a support, the telescopic end of the first telescopic piece is connected to the supporting plate, the support is provided with a sliding hole, one end of the guide rod is slidably arranged in the sliding hole, and the other end of the guide rod is connected to the supporting plate.

7. The suction cup gripper of claim 6, wherein, The horizontal moving mechanism comprises a second telescopic piece and a sliding rail which are both connected to the frame, the telescopic end of the second telescopic piece constitutes the output end of the horizontal moving mechanism, the support is provided with a sliding groove matched with the sliding rail, and the support is slidably connected to the sliding groove.

8. The suction cup gripper of claim 7, wherein, The sliding rail and the guide rod are both provided with two, the two sliding rails are located on the two sides of the second telescopic piece, and the two guide rods are located on the two sides of the first telescopic piece.

9. The suction cup gripper of claim 6, wherein, The lifting mechanism further comprises a first contact sensor for detecting whether the supporting plate reaches the waiting position, the horizontal moving mechanism further comprises a second contact sensor for detecting whether the supporting plate reaches the clamping position, the suction gripper further comprises a controller, and the first contact sensor and the second contact sensor are both electrically connected with the controller.

10. A robot, characterized in that The application further relates to a robot comprising a body and the suction gripper according to any one of claims 1-9, and the mechanical arm of the body is connected with the suction gripper.

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