Stacking robot with vacuum suction cups

Abstract

The utility model discloses a layer picks up the stacking robot of picking apart machine of vacuum chuck, including base, the base top is equipped with the stacking manipulator, the stacking manipulator terminal is connected with vacuum chuck, be equipped with a plurality of vacuum circuit in the vacuum chuck, vacuum chuck top surface one side is equipped with vacuum generator, vacuum generator top surface is equipped with first cylinder group, vacuum chuck top surface other side is equipped with second cylinder group, vacuum chuck middle part is equipped with third cylinder group, the output of first cylinder group, second cylinder group and third cylinder group passes through telescopic action drive sealing element to block the vacuum circuit of corresponding area to the partition adsorption to snatch the goods of different size, the utility model discloses, has the characteristics of partition vacuum circuit accurate control.

Description

Technical Field

[0001] This utility model relates to the field of automated logistics equipment technology, specifically a palletizing gripper for a layer picking and unloading robot with a vacuum suction cup. Background Technology

[0002] Palletizing grippers are the core end-effectors of automated palletizing systems. They are mainly installed on robotic arms or mobile platforms and use clamping, suction, and other methods to grab various goods such as cartons and bags, and complete the stacking and placement of goods according to a preset trajectory.

[0003] A published Chinese patent, publication number CN217172458U, discloses a vacuum palletizing gripper, including a main frame, a vacuum generator, and a vacuum suction cup. The vacuum generator is fixed to the main frame, and guide posts are provided on both sides of the main frame. The main frame is connected to the vacuum suction cup through the guide posts. The upper end of the guide post is slidably connected to the main frame through a linear bearing assembly, and the lower end is fixedly connected to the vacuum suction cup through a guide post seat. The linear bearing assembly can slide along the guide post, and a spring is provided on the outer periphery of the guide post. The spring is located between the linear bearing assembly and the guide post seat. The vacuum suction cup includes a vacuum suction cup top plate, a vacuum suction cup chamber, and a vacuum suction cup sponge. The vacuum suction cup top plate is fixedly connected to the guide post seat, and the vacuum suction cup sponge contacts the goods. The vacuum suction cup provided by the disclosed patent lacks independent zone control function. When grabbing goods of different sizes, it is impossible to individually adjust the vacuum state of the suction cup in a specific area, resulting in the extra suction cups being in a negative pressure state. This can easily cause the suction cups to accidentally suck up the ground, adjacent goods, or suck up empty goods, which can easily cause the goods to shift, stack skewed, or even cause the goods to tip over. Utility Model Content

[0004] The purpose of this invention is to provide a palletizing gripper for a layer picking and unloading robot with a vacuum suction cup, so as to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a palletizing gripper for a layer picking and unloading robot with a vacuum suction cup, including a base, on which a palletizing robot arm is installed; The palletizing robot is connected to a vacuum suction cup at its end. The vacuum suction cup has multiple vacuum circuits. A vacuum generator is provided on one side of the top surface of the vacuum suction cup. A first cylinder group is provided on the top surface of the vacuum generator. A second cylinder group is provided on the other side of the top surface of the vacuum suction cup. A third cylinder group is provided in the middle of the vacuum suction cup. The output ends of the first, second, and third cylinder groups drive the sealing element to block the vacuum circuits in the corresponding areas through telescopic movements, thereby performing zoned adsorption to grasp goods of different sizes.

[0006] In one embodiment of the present invention, the palletizing robot includes a movable base and a first lever arm, a second lever arm, a third lever arm, a fourth lever arm, and a rotating disk connected in sequence. Joint modules are provided at the connection points between the movable base and the first lever arm, between each adjacent lever arm, and between the fourth lever arm and the rotating disk.

[0007] In one embodiment of the present invention, the rotating disk flange is connected to a first connecting column, the other end flange of the first connecting column is connected to a hollow mounting plate, the four corners of the hollow mounting plate are provided with second connecting columns, the upper end of the second connecting column is provided with a limiting block and a shock-absorbing spring, and the lower end of the second connecting column is fixedly connected to a vacuum suction cup.

[0008] In one embodiment of the present invention, an installation strip is fixedly connected to the upper end of the first connecting column, and a 3D detection camera is installed on the end of the installation strip away from the first connecting column.

[0009] In one embodiment of this utility model, the vacuum suction cup is provided with a vacuum degree detection feedback switch on the side near the vacuum generator.

[0010] In one embodiment of this utility model, the outer side of the base is provided with several fixing ribs.

[0011] Compared with the prior art, the beneficial effects achieved by this utility model are: (1) By setting up a first cylinder group, a second cylinder group and a third cylinder group, and the output ends of the three cylinder groups can drive the sealing element to block the vacuum circuit of the corresponding area through the extension and retraction action, the independent adsorption control of the vacuum suction cup is realized. For goods of different sizes, the non-contact area circuit can be blocked to avoid ineffective adsorption. This solves the problem that the traditional gripper is prone to accidental adsorption and is difficult to adapt to multiple specifications of goods. It greatly improves the adaptability of the equipment to goods of different sizes and shapes and improves the efficiency of palletizing. (2) By setting up the first to fourth lever arms and the rotary table with multiple joint modules, the gripping angle, lifting height and horizontal displacement of the vacuum suction cup can be flexibly adjusted. It can adapt to multi-layer stacked goods and meet the complex operation scenario of misaligned stacking. It solves the problems of low positioning accuracy and poor operation flexibility of traditional fixed arm grippers, and improves the palletizing position accuracy and space utilization. Attached Figure Description

[0012] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structural composition of this utility model; Figure 2 This is a schematic diagram of the vacuum suction cup structure of this utility model; Figure 3 This is a schematic diagram of the palletizing robot structure of this utility model; Figure 4 This is a schematic diagram of the hollow mounting plate structure of this utility model; In the diagram: 10. Base; 11. Fixing rib; 20. Palletizing robot; 21. Movable base; 22. First lever arm; 23. Second lever arm; 24. Third lever arm; 25. Fourth lever arm; 26. Rotary disk; 27. Joint module; 30. Vacuum suction cup; 31. Vacuum generator; 32. First cylinder group; 33. Second cylinder group; 34. Third cylinder group; 35. Vacuum degree detection feedback switch; 40. First connecting column; 50. Hollow mounting plate; 51. Second connecting column; 511. Limit block; 512. Shock-absorbing spring; 60. Mounting strip; 61. 3D inspection camera. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present invention, the solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0014] This utility model provides a technical solution: a palletizing gripper for a layer-picking and unloading robot with a vacuum suction cup, including a base 10, a palletizing robot 20 mounted on the top of the base 10, a vacuum suction cup 30 connected to the end of the palletizing robot 20, a vacuum suction cup 30 having multiple vacuum circuits, a vacuum generator 31 on one side of the top surface of the vacuum suction cup 30, a first cylinder group 32 on the top surface of the vacuum generator 31, a second cylinder group 33 on the other side of the top surface of the vacuum suction cup 30, and a third cylinder group 34 in the middle of the vacuum suction cup 30. The output ends of the first cylinder group 32, the second cylinder group 33, and the third cylinder group 34 drive a sealing element through a telescopic action to seal the vacuum circuits in corresponding areas, thereby achieving zoned adsorption to grasp goods of different sizes; with the help of the first cylinder group 32... 2. The independent drive of the second cylinder group 33 and the third cylinder group 34 can flexibly block the vacuum circuit of the non-contact area according to the size of the goods, leaving only the effective adsorption area. This avoids the ineffective adsorption in the traditional whole adsorption mode, which may lead to the accidental adsorption of adjacent goods or work surfaces. It can also adapt to the diverse gripping needs from small and medium-sized single items to large assemblies. At the same time, the coordinated work of the vacuum generator 31 and the partition cylinder group ensures that the negative pressure of the suction cups in different areas is stable and controllable. Combined with the flexible operation capability of the palletizing robot 20, it significantly improves the accuracy of layer picking and splitting and the palletizing efficiency. It effectively solves the problems of poor adaptability and cumbersome operation of traditional grippers in handling multi-specification goods, and meets the technical requirements of the automated logistics field for efficient and flexible palletizing equipment.

[0015] The palletizing robot 20 includes a movable base 21 and a first lever arm 22, a second lever arm 23, a third lever arm 24, a fourth lever arm 25, and a rotating disk 26 connected in sequence. Joint modules 27 are provided at the connection points between the movable base 21 and the first lever arm 22, between each adjacent lever arm, and between the fourth lever arm 25 and the rotating disk 26. The movable base 21 and the multiple lever arms are connected in sequence through the joint modules 27 to form a multi-degree-of-freedom transmission structure, which can realize multi-angle adjustment of the vacuum suction cup 30 in space. It can not only adapt to the needs of grasping goods at different heights and positions, but also flexibly adjust the posture of the suction cup during layer picking and splitting to ensure contact with the surface of the goods. At the same time, the coordinated action of the multi-joint modules 27 can accurately compensate for the stacking deviation of the goods and avoid the grasping errors caused by the limited posture adjustment of the traditional fixed arm structure. The rotating disk 26 is flanged and connected to a first connecting post 40. The other end of the first connecting post 40 is flanged and connected to a perforated mounting plate 50. The perforated mounting plate 50 has a second connecting post 51 through its four corners. The upper end of the second connecting post 51 is provided with a limiting block 511 and a shock-absorbing spring 512. The lower end of the second connecting post 51 is fixedly connected to the vacuum suction cup 30. The rotating disk 26 and the perforated mounting plate 50 are rigidly connected through the first connecting post 40 to ensure that the force arm movement is accurately transmitted to the vacuum suction cup 30. At the same time, the second connecting posts 51 at the four corners of the perforated mounting plate 50, together with the limiting block 511 and the shock-absorbing spring 512, form a buffer adjustment structure. When the suction cup contacts the goods or the palletizing platform, the shock-absorbing spring 512 can absorb the instantaneous impact force to avoid damage to the goods or the suction cup caused by rigid collision.

[0016] An installation strip 60 is fixedly connected to the upper end of the first connecting column 40. A 3D detection camera 61 is installed at the end of the installation strip 60 away from the first connecting column 40. The 3D detection camera 61 is fixed to the first connecting column 40 by the installation strip 60 and can move synchronously with the palletizing robot 20. Before grasping, it performs real-time three-dimensional scanning and recognition of the stacking state of the goods, accurately locates the target goods, and can quickly feed back data to the control system if the goods are found to be skewed or misaligned, guiding the robot to adjust its posture to match the position of the goods without manual calibration. During the palletizing process, it can also monitor the placement accuracy in real time to ensure that the goods are stacked neatly, realizing an upgrade from blind grasping to intelligent recognition and precise operation, greatly improving the automation level and efficiency of layer picking and palletizing operations, and reducing the need for manual intervention. The vacuum suction cup 30 is provided with a vacuum degree detection feedback switch 35 on the side near the vacuum generator 31. The vacuum degree detection feedback switch 35 can accurately collect the negative pressure value of the vacuum suction cup 30. When the vacuum degree is detected to be lower than the preset adsorption threshold, it can immediately send a feedback signal to the control system to trigger the vacuum generator 31 to replenish the pressure and prevent the goods from falling. The base 10 is surrounded by several fixing ribs 11; the surrounding fixing ribs 11 can disperse the stress generated by the palletizing robot 20 during operation, and prevent the base 10 from deforming or displacing due to long-term stress.

[0017] Working principle: First, the base 10 is used to achieve stable installation of the entire equipment, ensuring the rigidity of the mechanism during the palletizing process. After the operation starts, the 3D detection camera 61 moves synchronously with the palletizing robot 20 to perform three-dimensional scanning of the goods stacking area, identify the position, size, number of stacking layers and flatness of the goods in real time, and feed the data back to the control system to plan the best gripping path. The control system drives the joint module 27 of the palletizing robot 20 to move in coordination. Through the angle adjustment of the first lever arm 22, the second lever arm 23, the third lever arm 24, the fourth lever arm 25 and the rotary disk 26, the vacuum suction cup 30 is moved precisely above the target goods. According to the size of the goods identified by the 3D detection camera 61, the control system commands the first cylinder group 32, the second cylinder group 33 and the third cylinder group 34 to selectively move. The vacuum circuit of the non-contact area is blocked by the extension and retraction drive seal, leaving only the suction cup in the contact area with the goods in the working state. Subsequently, the vacuum generator 31 is activated, which generates negative pressure in the vacuum suction cup 30 of the working area. The vacuum degree detection feedback switch 35 monitors the negative pressure value in real time to ensure that the preset adsorption threshold is reached. If the negative pressure is insufficient, the vacuum generator 31 is immediately triggered to replenish the pressure to ensure stable adsorption. During the gripping process, the shock-absorbing spring 512 between the hollow mounting plate 50 and the vacuum suction cup 30 buffers the contact impact force, and the limit block 511 restricts excessive displacement to avoid damage to the goods or the suction cup. After the gripping is completed, the palletizing robot 20 adjusts its posture through multi-joint linkage and moves the goods to the palletizing position. The 3D detection camera 61 monitors the placement accuracy in real time and guides the robot to complete the precise placement. After the goods are placed in place, the vacuum generator 31 stops working, the cylinder group resets to release the vacuum circuit blockage, and the single palletizing cycle is completed.

[0018] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or specific orientation structure and operation, and therefore should not be construed as a limitation of this utility model; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0019] In the description of this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this utility model, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, those skilled in the art can combine different embodiments or examples and features of different embodiments or examples described in this utility model without contradiction.

[0020] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A palletizing gripper for a layer picking and unloading robot with a vacuum suction cup, comprising a base (10) and a palletizing robot (20) mounted on the top of the base (10). Its features are: The palletizing robot (20) is connected to a vacuum suction cup (30) at its end. The vacuum suction cup (30) has multiple vacuum circuits. A vacuum generator (31) is provided on one side of the top surface of the vacuum suction cup (30). A first cylinder group (32) is provided on the top surface of the vacuum generator (31). A second cylinder group (33) is provided on the other side of the top surface of the vacuum suction cup (30). A third cylinder group (34) is provided in the middle of the vacuum suction cup (30). The output ends of the first cylinder group (32), the second cylinder group (33) and the third cylinder group (34) drive the sealing element to block the vacuum circuits in the corresponding areas through telescopic movement, thereby zoning and adsorbing to grab goods of different sizes.

2. The palletizing gripper with vacuum suction cup for a layer picking and unloading robot according to claim 1, characterized in that: The palletizing robot (20) includes a movable base (21) and a first lever arm (22), a second lever arm (23), a third lever arm (24), a fourth lever arm (25) and a rotating disk (26) connected in sequence. Joint modules (27) are provided at the connection points between the movable base (21) and the first lever arm (22), between each adjacent lever arm, and between the fourth lever arm (25) and the rotating disk (26).

3. A palletizing gripper with a vacuum suction cup for a layer picking and unloading robot according to claim 2, characterized in that: The rotating disk (26) is flanged and connected to a first connecting post (40). The other end of the first connecting post (40) is flanged and connected to a perforated mounting plate (50). The perforated mounting plate (50) has a second connecting post (51) through its four corners. The upper end of the second connecting post (51) is provided with a limiting block (511) and a shock-absorbing spring (512). The lower end of the second connecting post (51) is fixedly connected to a vacuum suction cup (30).

4. A palletizing gripper with a vacuum suction cup for a layer picking and unloading robot according to claim 3, characterized in that: An installation strip (60) is fixedly connected to the upper end of the first connecting column (40), and a 3D detection camera (61) is installed on the end of the installation strip (60) away from the first connecting column (40).

5. A palletizing gripper with a vacuum suction cup for a layer picking and unloading robot according to claim 1, characterized in that: The vacuum chuck (30) has a vacuum degree detection feedback switch (35) on the side near the vacuum generator (31).

6. A palletizing gripper with a vacuum suction cup for a layer picking and unloading robot according to claim 1, characterized in that: The base (10) has several fixing ribs (11) on its outer ring.

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