Grabbing device for tray and conveying system

Abstract

The utility model belongs to the technical field of conveying equipment, and particularly relates to a grabbing device for a tray and a conveying system.The grabbing device for the tray comprises a mounting frame, a telescopic assembly, a multi-position adsorption assembly, at least four supporting assemblies and at least four magnetic attraction assemblies; the telescopic assembly drives the multi-position adsorption assembly to move towards the tray until the multi-position adsorption assembly is attached to a plurality of positions on the tray, and the multi-position adsorption assembly adsorbs the tray through the attachment points; all the supporting assemblies rotate towards the lower portion of the tray till all the magnetic attraction assemblies are attracted; the telescopic assembly is matched with the multi-position attraction assembly to attract multiple positions on the tray, the problem that the tray falls off when errors occur to a single attraction point is avoided, meanwhile, in the tray transferring process, the supporting assemblies are attracted through the magnetic attraction assemblies, the supporting assemblies stably support the tray, and the tray transferring efficiency is improved. And the magnetic attraction assembly can magnetically attract the tray, so that the tray transferring stability and safety are further improved.

Description

Technical Field

[0001] This utility model belongs to the field of conveying equipment technology, specifically relating to gripper devices, and more particularly to a pallet gripping device and conveying system. Background Technology

[0002] During pallet transport, traditional gripping devices use a single gripper or suction cup to grasp the pallet. However, there are issues such as insufficient suction force, air leakage from the suction cup, or errors in the movement of some grippers, which can cause the pallet to fall off.

[0003] Therefore, there is an urgent need to develop a new pallet gripping device and conveying system to solve the technical problem of pallets falling off the robotic arm.

[0004] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Utility Model Content

[0005] This disclosure provides at least one pallet gripping device and conveying system.

[0006] In a first aspect, embodiments of this disclosure provide a pallet gripping device, comprising: a mounting frame, a telescopic component, a multi-position adsorption component, at least four support components, and at least four magnetic components; wherein the telescopic component connects the mounting frame and the multi-position adsorption component, each of the support components is movably connected to the mounting frame, and each of the magnetic components is connected to a corresponding support component; the telescopic component is adapted to drive the multi-position adsorption component to move toward the pallet until the multi-position adsorption component abuts against several positions on the pallet, and the multi-position adsorption component is adapted to adsorb the pallet through each abutment point; each of the support components is adapted to rotate toward the bottom of the pallet until each of the magnetic components abuts, so that each of the support components and each of the magnetic components holds the pallet.

[0007] In one optional embodiment, the telescopic component includes: a telescopic drive member; one end of the telescopic drive member is connected to a mounting frame, and the other end of the telescopic drive member is connected to a multi-position adsorption component; the telescopic drive member is adapted to move the multi-position adsorption component relative to the mounting frame.

[0008] In one optional embodiment, the multi-position adsorption assembly includes: a connecting plate and at least two suction cups; the connecting plate is connected to a telescopic assembly, and each of the suction cups is disposed on the connecting plate; the telescopic assembly is adapted to drive the connecting plate to move toward the tray until each of the suction cups is attached to a corresponding position on the tray, and each of the suction cups is adapted to adsorb the tray at the corresponding attachment point.

[0009] In one alternative embodiment, the surface of the connecting plate is provided with a flexible layer, and each of the suction cups is located on the flexible layer.

[0010] In one optional embodiment, the support assembly includes: a first link, a first rotating unit, a second link, a second rotating unit, and a third link; one end of the first link is connected to the mounting bracket, the other end of the first link is hinged to one end of the second link via the first rotating unit, the other end of the second link is hinged to one end of the third link via the second rotating unit, and the other end of the third link is connected to a corresponding magnetic attraction assembly; the first rotating unit is adapted to drive the second link to rotate relative to the first link, the second rotating unit is adapted to drive the third link to rotate relative to the second link; the third link is adapted to be attracted to other magnetic attraction assemblies via the magnetic attraction assembly.

[0011] In one optional embodiment, the first rotating unit includes: a first rotating shaft and a first rotating member; the first rotating shaft passes through a first connecting rod and a second connecting rod, and the first rotating shaft is connected to the second connecting rod; the first rotating member is connected to the first rotating shaft, and the first rotating member is adapted to drive the first rotating shaft to rotate, so as to drive the second connecting rod to rotate relative to the first connecting rod.

[0012] In one optional embodiment, the second rotating unit includes: a second rotating shaft and a second rotating member; the second rotating shaft passes through a second connecting rod and a third connecting rod, and the second rotating shaft is connected to the third connecting rod; the second rotating member is connected to the second rotating shaft, and the second rotating member is adapted to drive the second rotating shaft to rotate, so as to drive the third connecting rod to rotate relative to the second connecting rod.

[0013] In one alternative embodiment, the magnetic attraction assembly includes an electromagnet; the electromagnet is connected to a third link, and the electromagnet attracts other magnetic components when energized.

[0014] In one optional embodiment, the pallet gripping device further includes: a control module; the telescopic component, the multi-position adsorption component, each support component, and each magnetic attraction component are electrically connected to the control module; the control module is configured to control the telescopic component to move; the control module is also configured to control the multi-position adsorption component to move; the control module is also configured to control the support component to move; and the control module is also configured to control the magnetic attraction component to be powered on and off.

[0015] Secondly, embodiments of this disclosure also provide a conveying system, which includes: a pallet gripping device as described above, for transferring pallets.

[0016] The beneficial effects of this utility model are that it uses a telescopic component in conjunction with a multi-position adsorption component to adsorb multiple positions on the tray, avoiding the problem of the tray falling off when there is an error in a single adsorption point. At the same time, during the transfer of the tray, each support component is attracted to each other through the magnetic component, so that each support component can stably support the tray. In addition, the magnetic component can also magnetically attract the tray, further improving the stability and safety of the tray transfer.

[0017] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention are realized and obtained through the structures particularly pointed out in the description and the accompanying drawings.

[0018] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 A structural diagram of a pallet gripping device provided in an embodiment of this disclosure;

[0021] Figure 2 A structural diagram of a telescopic component provided in an embodiment of this disclosure;

[0022] Figure 3 A schematic block diagram of a pallet gripping device provided in an embodiment of this disclosure;

[0023] Figure 4 A schematic diagram of a suction cup adsorption tray provided in an embodiment of this disclosure;

[0024] Figure 5 This is a schematic diagram of a third link supporting a tray, provided as an embodiment of the present disclosure.

[0025] In the picture:

[0026] 1. Mounting bracket;

[0027] 2. Telescopic assembly; 21. Telescopic drive component;

[0028] 3. Multi-position adsorption assembly; 31. Connecting plate; 311. Flexible layer; 32. Suction cup;

[0029] 4. Support assembly; 41. First connecting rod; 42. First rotating unit; 421. First rotating shaft; 422. First rotating component; 43. Second connecting rod; 44. Second rotating unit; 441. Second rotating shaft; 442. Second rotating component; 45. Third connecting rod;

[0030] 5. Magnetic attraction component; 51. Electromagnet;

[0031] 6. Pallet. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0033] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be restrictive. As used herein, the singular articles “a,” “one,” and “the” may also be intended to include plural forms unless otherwise clearly stated above.

[0034] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] The following detailed description, with reference to the accompanying drawings, describes some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0037] like Figures 1 to 5As shown, at least one embodiment provides a pallet gripping device, comprising: a mounting frame 1, a telescopic component 2, a multi-position adsorption component 3, at least four support components 4, and at least four magnetic adsorption components 5; wherein the telescopic component 2 connects the mounting frame 1 and the multi-position adsorption component 3, each of the support components 4 is movably connected to the mounting frame 1, and each of the magnetic adsorption components 5 is connected to a corresponding support component 4; the telescopic component 2 is adapted to drive the multi-position adsorption component 3 to move toward the pallet until the multi-position adsorption component 3 is in contact with several positions on the pallet, and the multi-position adsorption component 3 is adapted to adsorb the pallet through each contact point; each of the support components 4 is adapted to rotate toward the bottom of the pallet until each of the magnetic adsorption components 5 is attracted, so that each of the support components 4 and each of the magnetic adsorption components 5 holds the pallet.

[0038] Specifically, the pallet can be a tray.

[0039] Specifically, the mounting frame 1 is connected to the moving track, which can move the mounting frame 1 to directly above the tray. The tray is then lifted by the telescopic component 2 and the multi-position suction component 3. The support component 4 and the magnetic component 5 then hold the tray in place, thus realizing the transfer of the tray.

[0040] In at least one embodiment, the telescopic component 2, in conjunction with the multi-position adsorption component 3, adsorbs multiple positions on the tray, avoiding the problem of the tray falling off when there is an error in a single adsorption point. At the same time, during the transfer of the tray, each support component 4 is attracted to each other through the magnetic adsorption component 5, so that each support component 4 can stably support the tray, and the magnetic adsorption component 5 can also magnetically attract the tray, further improving the stability and safety of the tray transfer.

[0041] In at least one embodiment, please refer to Figure 2 The telescopic component 2 includes: a telescopic drive component 21; one end of the telescopic drive component 21 is connected to the mounting frame 1, and the other end of the telescopic drive component 21 is connected to the multi-position adsorption component 3; the telescopic drive component 21 is adapted to drive the multi-position adsorption component 3 to move relative to the mounting frame 1.

[0042] Specifically, the telescopic drive component 21 is used to move the multi-position adsorption component 3, thereby enabling the multi-position adsorption component 3 to fit against the tray.

[0043] Specifically, the telescopic drive component 21 can be an electric telescopic rod.

[0044] In at least one embodiment, please refer to Figure 1The multi-position adsorption component 3 includes: a connecting plate 31 and at least two suction cups 32; the connecting plate 31 is connected to the telescopic component 2, and each of the suction cups 32 is arranged on the connecting plate 31; the telescopic component 2 is adapted to drive the connecting plate 31 to move toward the tray until each of the suction cups 32 is attached to the corresponding position on the tray, and each of the suction cups 32 is adapted to adsorb the tray at the corresponding attachment point.

[0045] Specifically, each suction cup 32 is distributed on the plane of the connecting plate 31, thereby enabling each suction cup 32 to simultaneously adhere to the tray.

[0046] Specifically, the connecting plate 31 serves to synchronously drive the movement of each suction cup 32.

[0047] In at least one embodiment, please refer to Figure 1 The surface of the connecting plate 31 is provided with a flexible layer 311, and each of the suction cups 32 is located on the flexible layer 311.

[0048] Specifically, since each suction cup 32 needs to be attached to the tray, each suction cup 32 needs to be cushioned. The flexible layer 311 plays the role of cushioning the suction cup 32, and the flexible layer 311 can be made of rubber or the like.

[0049] In at least one embodiment, please refer to Figure 1 The support assembly 4 includes: a first connecting rod 41, a first rotating unit 42, a second connecting rod 43, a second rotating unit 44, and a third connecting rod 45; one end of the first connecting rod 41 is connected to the mounting bracket 1, the other end of the first connecting rod 41 is hinged to one end of the second connecting rod 43 through the first rotating unit 42, the other end of the second connecting rod 43 is hinged to one end of the third connecting rod 45 through the second rotating unit 44, and the other end of the third connecting rod 45 is connected to a corresponding magnetic attraction assembly 5; the first rotating unit 42 is adapted to drive the second connecting rod 43 to rotate relative to the first connecting rod 41, the second rotating unit 44 is adapted to drive the third connecting rod 45 to rotate relative to the second connecting rod 43; the third connecting rod 45 is adapted to be attracted to other magnetic attraction assemblies 5 through the magnetic attraction assembly 5.

[0050] Specifically, the second link 43 rotates relative to the first link 41 in the direction of F1.

[0051] Specifically, the third link 45 rotates relative to the second link 43 in the F2 direction.

[0052] Specifically, the first rotating unit 42 drives the second connecting rod 43 to rotate to a 90-degree angle with the first connecting rod 41, and the second rotating unit 44 drives the third connecting rod 45 to rotate to a 90-degree angle with the second connecting rod 43, thereby enabling the four support components 4 to hold the tray.

[0053] Specifically, please refer to Figure 4When the first link 41, the second link 43, and the third link 45 open, the telescopic drive 21 can lower the suction cup 32, allowing the suction cup 32 to hold the tray 6. Then, the telescopic drive 21 can raise the suction cup 32. Please refer to [link / reference needed]. Figure 5 The first link 41, the second link 43, and the third link 45 converge, so that the third link 45 supports the tray 6.

[0054] In at least one embodiment, please refer to Figure 1 The first rotating unit 42 includes: a first rotating shaft 421 and a first rotating component 422; the first rotating shaft 421 passes through a first connecting rod 41 and a second connecting rod 43, and the first rotating shaft 421 is connected to the second connecting rod 43; the first rotating component 422 is connected to the first rotating shaft 421, and the first rotating component 422 is adapted to drive the first rotating shaft 421 to rotate, so as to drive the second connecting rod 43 to rotate relative to the first connecting rod 41.

[0055] Specifically, the first rotating component 422 can be a PCB motor.

[0056] Specifically, since the first rotating shaft 421 is fixed to the second connecting rod 43 and is movably connected to the first connecting rod 41, the second connecting rod 43 can rotate relative to the first connecting rod 41 when the first rotating shaft 421 rotates.

[0057] In at least one embodiment, please refer to Figure 1 The second rotating unit 44 includes: a second rotating shaft 441 and a second rotating component 442; the second rotating shaft 441 passes through the second connecting rod 43 and the third connecting rod 45, and the second rotating shaft 441 is connected to the third connecting rod 45; the second rotating component 442 is connected to the second rotating shaft 441, and the second rotating component 442 is adapted to drive the second rotating shaft 441 to rotate, so as to drive the third connecting rod 45 to rotate relative to the second connecting rod 43.

[0058] Specifically, the second rotating component 442 can be a PCB motor.

[0059] Specifically, since the second rotating shaft 441 is fixed to the third connecting rod 45 and the second rotating shaft 441 is movably connected to the second connecting rod 43, the second connecting rod 43 can rotate relative to the first connecting rod 41 when the second rotating shaft 441 rotates.

[0060] In at least one embodiment, please refer to Figure 1 The magnetic attraction component 5 includes an electromagnet 51; the electromagnet 51 is connected to the third connecting rod 45, and the electromagnet 51 attracts other magnetic components when energized.

[0061] Specifically, when the electromagnet 51 is energized, it can attract the magnetic component. As a result, electromagnets 51 are provided at the ends of the third link 45, which can ensure that each third link 45 is attracted together, so that each link forms a frame to support the tray.

[0062] Specifically, when the tray is made of metal, the electromagnet 51 can also attract the tray when it is energized.

[0063] In at least one embodiment, please refer to Figure 3 The pallet gripping device further includes: a control module; the telescopic component 2, the multi-position adsorption component 3, each support component 4, and each magnetic attraction component 5 are electrically connected to the control module; the control module is configured to control the telescopic component 2 to move; the control module is also configured to control the multi-position adsorption component 3 to move; the control module is also configured to control the support component 4 to move; and the control module is also configured to control the magnetic attraction component 5 to turn on and off.

[0064] Specifically, the control module can be a DVP-SS2 type PLC controller.

[0065] Based on the same technical concept, at least one embodiment also provides a conveying system including: a pallet gripping device as described above for transferring pallets.

[0066] In summary, this utility model uses a telescopic component in conjunction with a multi-position adsorption component to adsorb multiple positions on the tray, avoiding the problem of the tray falling off when there is an error in a single adsorption point. At the same time, during the transfer of the tray, each support component is attracted to each other through the magnetic component, so that each support component can stably support the tray. In addition, the magnetic component can also magnetically attract the tray, further improving the stability and safety of the tray transfer.

[0067] In the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0068] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention 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, and therefore should not be construed as a limitation of the invention. Furthermore, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence unless expressly indicated herein. Therefore, without departing from the teachings of the exemplary embodiments, the first element, component, region, layer, or segment discussed above may be referred to as a second element, component, region, layer, or segment.

[0069] Spatially relative terms, such as “inside,” “outside,” “below,” “below,” “down,” “above,” “up,” etc., may be used herein to describe the relationship between one element or feature illustrated in the figures and another element or feature. In addition to the orientations depicted in the figures, spatially relative terms may be intended to cover different orientations of the device in use or operation. For example, if the device in the figure is flipped, an element described as “below” or “below” other elements or features would be oriented as “above” other elements or features. Thus, the example term “below” can cover both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0070] In the above discussion, unless otherwise stated, when used to describe numerical values, the terms “about,” “approximately,” “basically,” etc., indicate a change of + / - 10% in that value.

[0071] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A pallet gripping device, characterized in that, include: The mounting bracket (1), telescopic assembly (2), multi-position suction assembly (3), at least four support assemblies (4), and at least four magnetic assemblies (5); wherein The telescopic component (2) connects the mounting frame (1) and the multi-position adsorption component (3), each of the support components (4) is movably connected to the mounting frame (1), and each of the magnetic adsorption components (5) is connected to the corresponding support component (4); The telescopic component (2) is adapted to drive the multi-position adsorption component (3) to move toward the tray until the multi-position adsorption component (3) is in contact with several positions on the tray, and the multi-position adsorption component (3) is adapted to adsorb the tray through each contact point. Each of the support components (4) is adapted to rotate toward the bottom of the tray until each of the magnetic components (5) engages, so that each of the support components (4) and each of the magnetic components (5) holds the tray.

2. The pallet gripping device as described in claim 1, characterized in that, The telescopic component (2) includes: a telescopic drive component (21); One end of the telescopic drive component (21) is connected to the mounting bracket (1), and the other end of the telescopic drive component (21) is connected to the multi-position adsorption assembly (3). The telescopic drive (21) is adapted to drive the multi-position adsorption assembly (3) to move relative to the mounting frame (1).

3. The pallet gripping device as described in claim 1, characterized in that, The multi-position adsorption assembly (3) includes: a connecting plate (31) and at least two suction cups (32); The connecting plate (31) is connected to the telescopic assembly (2), and each of the suction cups (32) is arranged on the connecting plate (31); The telescopic component (2) is adapted to drive the connecting plate (31) to move toward the tray until each of the suction cups (32) is attached to the corresponding position on the tray, and each of the suction cups (32) is adapted to adsorb the tray at the corresponding attachment point.

4. The pallet gripping device as described in claim 3, characterized in that, The surface of the connecting plate (31) is provided with a flexible layer (311), and each of the suction cups (32) is located on the flexible layer (311).

5. The pallet gripping device as described in claim 1, characterized in that, The support assembly (4) includes: a first link (41), a first rotating unit (42), a second link (43), a second rotating unit (44), and a third link (45). One end of the first connecting rod (41) is connected to the mounting bracket (1), and the other end of the first connecting rod (41) is hinged to one end of the second connecting rod (43) through the first rotating unit (42). The other end of the second connecting rod (43) is hinged to one end of the third connecting rod (45) through the second rotating unit (44), and the other end of the third connecting rod (45) is connected to the corresponding magnetic suction assembly (5). The first rotating unit (42) is adapted to drive the second link (43) to rotate relative to the first link (41), and the second rotating unit (44) is adapted to drive the third link (45) to rotate relative to the second link (43); The third link (45) is adapted to be attracted to other magnetic components (5) by means of magnetic components (5).

6. The pallet gripping device as described in claim 5, characterized in that, The first rotating unit (42) includes: a first rotating shaft (421) and a first rotating component (422); The first rotating shaft (421) passes through the first connecting rod (41) and the second connecting rod (43), and the first rotating shaft (421) is connected to the second connecting rod (43); The first rotating member (422) is connected to the first rotating shaft (421), and the first rotating member (422) is adapted to drive the first rotating shaft (421) to rotate, so as to drive the second connecting rod (43) to rotate relative to the first connecting rod (41).

7. The pallet gripping device as described in claim 5, characterized in that, The second rotating unit (44) includes: a second rotating shaft (441) and a second rotating component (442); The second rotating shaft (441) passes through the second connecting rod (43) and the third connecting rod (45), and the second rotating shaft (441) is connected to the third connecting rod (45); The second rotating member (442) is connected to the second rotating shaft (441), and the second rotating member (442) is adapted to drive the second rotating shaft (441) to rotate, so as to drive the third link (45) to rotate relative to the second link (43).

8. The pallet gripping device as described in claim 5, characterized in that, The magnetic attraction component (5) includes: an electromagnet (51); The electromagnet (51) is connected to the third link (45), and the electromagnet (51) attracts magnetic components when energized.

9. The pallet gripping device as claimed in claim 1, characterized in that, Also includes: Control module; The telescopic component (2), the multi-position adsorption component (3), each support component (4), and each magnetic adsorption component (5) are electrically connected to the control module respectively; The control module is configured to control the movement of the telescopic component (2); The control module is also configured to control the action of the multi-position adsorption component (3); The control module is also configured to control the operation of the support component (4); The control module is also configured to control the power supply to and from the magnetic attraction component (5).

10. A conveying system, characterized in that, include: The pallet gripping device as described in any one of claims 1-9, for transferring pallets.

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