Steering engine driven double-sucker switching structure

Abstract

The utility model relates to a rudder machine driven double-suction disc switching structure belongs to the logistics parcel sorting mechanical equipment technical field, including being applicable to sucking double-suction disc equipment of different material, the outside of double-suction disc equipment is provided with the abutment structure for more stably with object contact, the inside of abutment structure is provided with the inflation structure for quickly making double-suction disc equipment and object separate, the outside of double-suction disc equipment is provided with respectively with abutment structure and inflation structure linkage's locking structure, the structure of bouncing up and transmission plate, the double-suction disc equipment includes first rudder machine, second rudder machine, third rudder machine, first vacuum suction disc and second vacuum suction disc. The utility model has high adaptability, energy -conserving high -efficient and separate success rate higher advantage, realized the quick stable switching of different types vacuum suction disc, has remarkable economic benefits and social benefits, especially in logistics, packing and robot snatch etc. field has extensive application prospect.

Description

Technical Field

[0001] This utility model relates to the technical field of logistics parcel sorting machinery and equipment, specifically a servo motor driven dual suction cup switching structure. Background Technology

[0002] A vacuum suction cup is a device that uses a vacuum level to maintain the adhesion between two objects. It has both industrial and civilian applications. In industry, changing the vacuum level of the suction cup enables the "picking up" and "placing down" during handling and migration, facilitating automation and mechanization. Currently, vacuum suction cups cannot be used to pick up objects of all different materials with a single suction cup. Switching between multiple suction cups is achieved using a multi-axis polar coordinate robotic arm; for Cartesian coordinate robotic arms, additional rotation is required.

[0003] In the fields of automated production and material handling, vacuum suction cups are one of the key tools for grasping and transporting objects. However, in existing applications where Cartesian coordinate robotic arms drive dual vacuum suction cups, the suction cups may wobble or shift at the moment of contact with an object due to inertia. This wobble not only interferes with the stable contact between the suction cup and the object but may also reduce the adsorption effect or even lead to adsorption failure. In addition, the response speed and motion characteristics of the Cartesian coordinate robotic arm itself have certain limitations. These limitations may prevent the vacuum suction cups from reaching sufficient speed during switching, causing them to fail to contact or separate from the object in a timely manner. This delay not only affects production efficiency but may also lead to production process interruptions in some cases, thus failing to meet the demands of modern high-efficiency production.

[0004] Therefore, it is urgent to improve the dual suction cup switching structure to solve the above-mentioned problems. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a servo motor-driven dual-suction cup switching structure, which has advantages such as high adaptability, energy efficiency, and high separation success rate. It enables rapid and stable switching between different types of vacuum suction cups, resulting in significant economic and social benefits, and has broad application prospects, especially in logistics, packaging, and robotic gripping.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a servo motor driven dual suction cup switching structure, including a dual suction cup device suitable for suctioning different materials, a contact structure, an inflation structure, a locking structure linked with the inflation structure, a pop-up structure, and a transmission plate. The abutting structure is located outside the dual suction cup device, the inflation structure is located inside the abutting structure, and the locking structure, the pop-up structure, and the transmission plate are located outside the dual suction cup device and are linked to the abutting structure and the inflation structure respectively. The dual suction cup device includes a first servo motor, a second servo motor, a third servo motor, a first vacuum suction cup, and a second vacuum suction cup; The abutting structure includes a connecting ring fixedly connected to the bottom of the first vacuum suction cup. The bottom of the connecting ring is connected to a telescopic corrugated tube. The bottom end of the telescopic corrugated tube is fixedly connected to an installation ring. The first vacuum suction cup or the second vacuum suction cup and the outside of the installation ring have a connecting plate and a fixing plate from top to bottom, respectively. An elastic telescopic rod and a buffer spring are fixedly installed between the connecting plate and the fixing plate. The inflation structure includes a piston assembly and a suction structure. The suction structure includes a mounting base fixedly connected to the outside of the first vacuum suction cup and a movable block slidably connected to the inside of the mounting base. The external connection of the movable block extends to a horizontal plate outside the mounting base. The horizontal plate is linked with the abutment structure through a transmission plate.

[0007] In one possible implementation, the buffer spring is connected to the outside of the elastic telescopic rod. There are two sets of the connecting plate, the fixing plate, the elastic telescopic rod, and the buffer spring, which are symmetrically distributed on the outside of the connecting ring. The transmission plate is fixedly connected to the top of the connecting plate on the left side.

[0008] In one possible implementation, the mounting base has a transmission port adapted to the horizontal plate inside, the horizontal plate is slidably connected to the inside of the transmission port, the left side of the moving block is connected to a slider extending into the inside of the mounting base, the mounting base has a sliding groove adapted to the slider inside, and the slider and the sliding groove are slidably connected.

[0009] In one possible implementation, the piston assembly includes a piston cylinder fixedly connected to the outside of a first vacuum suction cup. A delivery pipe is fixedly connected between the piston cylinder and a mounting ring. The mounting ring has a plurality of air outlet holes inside, which are arranged in a ring shape inside the mounting ring. A stopper plate is slidably connected inside the piston cylinder, and a stopper rod extending to the outside of the piston cylinder is connected to the bottom of the stopper plate.

[0010] In one possible implementation, the end of the piston rod away from the piston plate is fixedly connected to the top of the moving block, the piston rod is slidably connected to the inside of the mounting base, the piston cylinder is fixedly connected to the outside of the air inlet pipe, and a one-way valve is fixedly installed inside both the delivery pipe and the air inlet pipe.

[0011] In one possible implementation, the transmission plate is located on the upper surface of the horizontal plate, the horizontal plate abuts against the transmission plate, and the moving block and the piston rod are slidably connected to the mounting base and the piston cylinder through the transmission plate.

[0012] In one possible implementation, the locking structure includes a connecting rod fixedly connected to the bottom of the movable block and extending to the outside of the mounting base. A return spring is connected between the movable block and the mounting base. The return spring is wrapped around the outside of the connecting rod. An abutment wheel is rotatably connected to the bottom end of the connecting rod via a connecting piece.

[0013] In one possible implementation, a connecting rod is hinged to the bottom of the mounting base, and a pulley extending into the interior of the movable block is rotatably connected to the top of the connecting rod. A heart-shaped groove adapted to the pulley is opened inside the movable block, and the pulley is rotatably connected to the interior of the heart-shaped groove. The movable block is also slidably connected to the interior of the mounting base via the pulley.

[0014] In one possible implementation, the pop-up structure includes a mounting plate fixedly connected to the outside of the mounting base, a base plate fixedly connected to the bottom of the mounting plate, and a connecting ear fixedly connected to the top of the transmission plate. A transmission rod is connected to the outside of the connecting ear. An abutment rod extending to the outside is slidably connected inside the mounting plate. A wedge block is connected to the left end of the abutment rod. A limiting rod extending into the inside of the base plate is connected to the bottom of the wedge block. A limiting groove adapted to the limiting rod is opened inside the base plate. The limiting rod and the limiting groove are slidably connected. The wedge block is located on the lower surface of the abutment wheel.

[0015] In one possible implementation, the bottom end of the transmission rod is connected to a transmission block, and the transmission block has an inclined transmission groove inside. The end of the abutment rod away from the wedge block is rotatably connected to a roller extending into the transmission groove, and the abutment rod is slidably connected to the inside of the mounting plate through the roller.

[0016] Compared with the prior art, this utility model provides a servo-driven dual-cup switching structure, which has the following advantages: 1. This utility model uses three sets of servo motors to drive two sets of vacuum suction cups, which can quickly switch between different types of vacuum suction cups according to different object materials and adsorption requirements, thereby improving the flexibility and adaptability of the production line and meeting diverse production needs.

[0017] 2. This utility model, through the combined design of telescopic corrugated tube, elastic telescopic rod and buffer spring, can effectively absorb the energy generated by inertia when the vacuum suction cup comes into contact with an object, reduce the shaking amplitude, enable the vacuum suction cup to contact or separate from the object more stably, avoid direct impact on the object due to inertia, and also ensure the sealing of the contact area between the suction cup and the object, preventing outside air from entering and affecting the adsorption effect.

[0018] 3. This utility model, through the cooperation of the piston assembly and the suction structure, can quickly inflate the vacuum suction cup when it is necessary to cancel the adsorption, thereby eliminating the vacuum state, greatly shortening the time for canceling the adsorption and improving work efficiency. The inflation structure and the contact structure are linked by the transmission plate. When the vacuum suction cup cancels the adsorption, the displacement of the contact structure can automatically trigger the inflation structure to work, without the need for additional control signals. The structure is simple and easy to operate.

[0019] 4. This utility model achieves reliable locking and unlocking of the moving block through the cooperation of the moving rod, return spring, connecting rod, pulley and heart-shaped slide groove. During the adsorption process, it can ensure the stability of the moving block position and ensure the reliability of vacuum adsorption; when the adsorption is canceled, it can be unlocked smoothly so that the inflation structure can work normally.

[0020] 5. This utility model achieves simple mechanical transmission through the cooperation of wedge block, abutment rod, transmission block and transmission groove, which transforms the upward movement of the abutment wheel into the upward popping action of the inflatable structure. The popping structure can further help the vacuum suction cup separate from the object on the basis of the working of the inflatable structure, especially when the suction force is large or the surface of the object is smooth, it can effectively improve the success rate of separation. Attached Figure Description

[0021] Figure 1 This is a perspective view of the overall structure of this utility model; Figure 2 This is a perspective view of the connection structure of the first vacuum suction cup, the contact structure, the inflation structure, the locking structure, and the spring-up structure of this utility model. Figure 3 This is a three-dimensional structural view of the contact structure of this utility model; Figure 4 This is a three-dimensional view of the inflatable structure and mounting ring of this utility model; Figure 5 This is a three-dimensional structural view of the inflatable structure and locking structure of this utility model; Figure 6 This is a three-dimensional view of the locking structure of this utility model; Figure 7 This is a three-dimensional structural view of the spring-loaded structure of this utility model; Figure 8 For the present utility model Figure 7 A magnified structural diagram of structure A is shown.

[0022] In the diagram: 1. Dual suction cup device; 101. First servo motor; 102. Second servo motor; 103. Third servo motor; 104. First vacuum suction cup; 105. Second vacuum suction cup; 2. Abutment structure; 21. Connecting ring; 22. Telescopic corrugated pipe; 23. Mounting ring; 24. Connecting plate; 25. Fixing plate; 26. Elastic telescopic rod; 27. Buffer spring; 3. Inflatable structure; 31. Piston cylinder; 32. Delivery pipe; 33. Plug plate; 34. Plug rod; 35. Moving block; 36. Mounting base; 37. 38. Horizontal plate; 39. Air inlet pipe; 310. Air outlet; 311. Slider; 312. Transmission port; 4. Locking structure; 41. Connecting rod; 42. Return spring; 43. Abutment wheel; 44. Connecting rod; 45. Pulley; 46. Heart-shaped slide groove; 5. Spring-up structure; 51. Mounting plate; 52. Base plate; 53. Connecting ear; 54. Transmission rod; 55. Transmission block; 56. Transmission groove; 57. Abutment rod; 58. Wedge block; 59. Roller; 510. Limiting rod; 511. Limiting groove; 6. Transmission plate. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Please see Figures 1 to 8 This embodiment of a servo-driven dual suction cup switching structure includes a dual suction cup device 1 suitable for picking up different materials. The external part of the dual suction cup device 1 is provided with an abutment structure 2 for more stable contact with the object. The internal part of the abutment structure 2 is provided with an inflation structure 3 for quickly separating the dual suction cup device 1 from the object. The external part of the dual suction cup device 1 is provided with a locking structure 4, a pop-up structure 5, and a transmission plate 6 that are respectively linked with the abutment structure 2 and the inflation structure 3. The dual-suction cup device 1 includes a first servo motor 101, a second servo motor 102, a third servo motor 103, a first vacuum suction cup 104, and a second vacuum suction cup 105. The coordinated operation of the first servo motor 101, the second servo motor 102, and the third servo motor 103 enables precise control over the position, angle, and type of the suction cups. The first servo motor 101 ensures precise adjustment of the object's orientation, the second servo motor 102 allows the suction cups to adapt to objects at different angles, and the third servo motor 103 enables rapid switching between different types of suction cups, thereby meeting various complex suction and placement needs and improving operational precision and flexibility.

[0025] The dual suction cup device 1 can adapt to objects of different shapes, materials, and postures. Whether it is soft or hard packaging material, or whether the object is placed horizontally or at an angle, it can be effectively picked up and transported through the coordinated control of servo motors, greatly improving the versatility and adaptability of the equipment.

[0026] In order to enable the first vacuum suction cup 104 and the second vacuum suction cup 105 to make more stable contact with the object, in this embodiment, the abutment structure 2 includes a connecting ring 21 fixedly connected to the bottom of the first vacuum suction cup 104. The bottom of the connecting ring 21 is connected to a telescopic corrugated tube 22. The bottom end of the telescopic corrugated tube 22 is fixedly connected to an mounting ring 23. The outside of the first vacuum suction cup 104 and the mounting ring 23 are respectively connected to a connecting plate 24 and a fixing plate 25 from top to bottom. An elastic telescopic rod 26 and a buffer spring 27 are fixedly installed between the connecting plate 24 and the fixing plate 25.

[0027] The buffer spring 27 is connected to the outside of the elastic telescopic rod 26. There are two sets of each of the connecting plate 24, fixing plate 25, elastic telescopic rod 26, and buffer spring 27, arranged symmetrically on the outside of the connecting ring 21. The transmission plate 6 is fixedly connected to the top of the left connecting plate 24. The combined design of the elastic telescopic rod 26 and buffer spring 27 effectively absorbs the energy generated by inertia when the first vacuum suction cup 104 or the second vacuum suction cup 105 contacts an object, reducing the amplitude of shaking and allowing the first vacuum suction cup 104 or the second vacuum suction cup 105 to contact the object more stably, thus improving the reliability and success rate of adsorption.

[0028] In order to shorten the time for the first vacuum suction cup 104 or the second vacuum suction cup 105 to cancel adsorption and speed up the switching speed of the first vacuum suction cup 104 or the second vacuum suction cup 105, in this embodiment, the inflation structure 3 includes a piston assembly and a suction structure. The suction structure includes a mounting base 36 fixedly connected to the outside of the first vacuum suction cup 104 and a moving block 35 slidably connected to the inside of the mounting base 36. The external connection of the moving block 35 extends to a horizontal plate 37 outside the mounting base 36. The horizontal plate 37 is linked with the abutment structure 2 through the transmission plate 6.

[0029] The mounting base 36 has a transmission port 311 that is adapted to the horizontal plate 37. The horizontal plate 37 is slidably connected to the inside of the transmission port 311. The left side of the moving block 35 is connected to a slider 310 that extends into the inside of the mounting base 36. The mounting base 36 has a sliding groove that is adapted to the slider 310. The slider 310 and the sliding groove are slidably connected.

[0030] Specifically, the piston assembly includes a piston cylinder 31 fixedly connected to the outside of the first vacuum suction cup 104. A delivery pipe 32 is fixedly connected between the piston cylinder 31 and the mounting ring 23. The mounting ring 23 has a number of air outlet holes 39 arranged in a ring shape inside the mounting ring 23. A stopper plate 33 is slidably connected inside the piston cylinder 31, and a stopper rod 34 extending to the outside of the piston cylinder 31 is connected to the bottom of the stopper plate 33. A one-way valve is installed inside the air inlet pipe 38 of the piston cylinder 31 to ensure that air can only flow in one direction, thereby improving the efficiency of vacuum establishment and release and reducing energy consumption.

[0031] It should be noted that the end of the piston rod 34 away from the piston plate 33 is fixedly connected to the top of the moving block 35, the piston rod 34 is slidably connected to the inside of the mounting base 36, the piston cylinder 31 is fixedly connected to the outside of the air inlet pipe 38, and one-way valves are fixedly installed inside both the delivery pipe 32 and the air inlet pipe 38.

[0032] It is worth mentioning that the transmission plate 6 is located on the upper surface of the horizontal plate 37, and the horizontal plate 37 abuts against the transmission plate 6. The moving block 35 and the stop rod 34 are slidably connected to the mounting base 36 and the piston cylinder 31 through the transmission plate 6. Through the cooperation of the piston assembly and the suction structure, when it is necessary to cancel the adsorption, air can be quickly injected into the first vacuum suction cup 104 or the second vacuum suction cup 105 to eliminate the vacuum state, which greatly shortens the time for canceling the adsorption, improves the working efficiency, and speeds up the switching speed of the first vacuum suction cup 104 or the second vacuum suction cup 105.

[0033] To ensure reliable locking and unlocking of the movable block 35, in this embodiment, the locking structure 4 includes a connecting rod 41 fixedly connected to the bottom of the movable block 35 and extending to the outside of the mounting base 36. A return spring 42 is connected between the movable block 35 and the mounting base 36, and the return spring 42 is wrapped around the outside of the connecting rod 41. The bottom end of the connecting rod 41 is rotatably connected to an abutment wheel 43 via a connecting piece. The position of the movable block 35 is locked by the connecting rod 41 and the abutment wheel 43 to prevent it from moving in the opposite direction, ensuring the stability of the first vacuum suction cup 104 or the second vacuum suction cup 105 during the adsorption process.

[0034] The mounting base 36 has a connecting rod 44 hinged to its bottom. The top of the connecting rod 44 is rotatably connected to a pulley 45 extending into the movable block 35. The movable block 35 has a heart-shaped groove 46 inside, which matches the pulley 45. The pulley 45 is rolled within the heart-shaped groove 46, and the movable block 35 is also slidably connected to the mounting base 36 via the pulley 45. Through the cooperation of the connecting rod 41, the return spring 42, the connecting rod 44, the pulley 45, and the heart-shaped groove 46, reliable locking and unlocking of the movable block 35 is achieved. During adsorption, the position of the movable block 35 remains stable, ensuring the reliability of vacuum adsorption; when adsorption is canceled, it can be easily unlocked, allowing the inflation structure 3 to function normally.

[0035] To improve the success rate of separating the first vacuum suction cup 104 or the second vacuum suction cup 105 from the object, in this embodiment, the pop-up structure 5 includes a mounting plate 51 fixedly connected to the outside of the mounting base 36, a base plate 52 fixedly connected to the bottom of the mounting plate 51, and a connecting ear 53 fixedly connected to the top of the transmission plate 6. The outside of the connecting ear 52 is connected to the transmission rod 54. The inside of the mounting plate 51 is slidably connected to an abutment rod 57 extending to its outside. The left end of the abutment rod 57 is connected to a wedge block 58. The bottom of the wedge block 58 is connected to a limiting rod 510 extending into the inside of the base plate 52. The inside of the base plate 52 is provided with a limiting groove 511 that matches the limiting rod 510. The limiting rod 510 and the limiting groove 511 are slidably connected. The wedge block 58 is located on the lower surface of the abutment wheel 43.

[0036] By coordinating the piston assembly and the suction structure, air can be quickly pumped into the first vacuum suction cup 104 or the second vacuum suction cup 105 when suction needs to be released, eliminating the vacuum and significantly shortening the time required to release suction. Furthermore, the inflation structure 3 and the contact structure 2 are linked via the transmission plate 6. When the first vacuum suction cup 104 or the second vacuum suction cup 105 releases suction, the displacement of the contact structure 2 automatically triggers the inflation structure 3 to operate, eliminating the need for additional control signals. This simplifies the operation process, reduces the complexity of equipment control, minimizes the risk of malfunctions due to control errors, and improves work efficiency and ease of operation.

[0037] When the suction force is strong or the object surface is smooth, it is difficult to separate the suction cup from the object smoothly. However, this utility model, through the design of the pop-up structure 5, further helps the vacuum suction cup to separate from the object on the basis of the working of the inflation structure 3. It can effectively improve the success rate of separation, reduce production delays and equipment damage caused by separation difficulties, and ensure the normal operation of the production line.

[0038] In this structure, the bottom end of the transmission rod 54 is connected to the transmission block 55, and the transmission block 55 has an inclined transmission groove 56 inside. The end of the abutment rod 57 away from the wedge block 58 is rotatably connected to a roller 59 extending into the transmission groove 56. The abutment rod 57 is slidably connected to the inside of the mounting plate 51 through the roller 59. The wedge block 58 and the abutment wheel 43 in the pop-up structure 5 interact, causing the abutment wheel 43 to move upward, precisely controlling the pop-up height, avoiding overshoot, and releasing the lock. The moving block 35 is reset under the action of the return spring 42, completing the de-locking process.

[0039] The working principle of the above embodiments is as follows: In use, the controller activates the first servo motor 101, the second servo motor 102, and the third servo motor 103 to control the position and movement of the dual suction cup device 1 as needed, so that the first vacuum suction cup 104 or the second vacuum suction cup 105 approaches the object to be suctioned. When the first vacuum suction cup 104 or the second vacuum suction cup 105 approaches the object, the abutment structure 2, composed of the connecting ring 21, the telescopic bellows 22, the mounting ring 23, the connecting plate 24, and the fixing plate 25, begins to function. If the elastic telescopic rod 26 and the buffer spring 27 shake or displace due to inertia at the moment the suction cup contacts the object, they will absorb some energy and reduce the shaking amplitude, so that the first vacuum suction cup 104 can contact the object more stably. The telescopic bellows 22 plays the role of sealing and protecting the internal structure, and at the same time, it extends and retracts with the movement of the first vacuum suction cup 104 or the second vacuum suction cup 105. The elastic telescopic rod 26 restricts lateral displacement, ensuring that the first vacuum suction cup 104 or the second vacuum suction cup 105 is completely in contact with the object. The transmission plate 6 presses down to push the horizontal plate 37, which in turn drives the moving block 35 to slide down. The stopper rod 34 pulls down the stopper plate 33. The piston cylinder 31 draws in external air through the air inlet pipe 38 and stores it inside the piston cylinder 31. The one-way valve air inlet pipe 38 prevents gas backflow and maintains the state of containing air inside the piston cylinder 31. When the moving block 35 slides down, the connecting rod 44 drives the pulley 45 to roll in the heart-shaped groove 46 inside the moving block 35. When the pulley 45 rolls to a specific position in the heart-shaped groove 46, the moving block 35 is locked. At this time, the position of the plug plate 33 in the inflation structure 3 is locked to prevent the plug plate 33 from moving due to external factors during the adsorption process and thus destroying the vacuum state, ensuring the stability of adsorption. The pulley 45 moves along the heart-shaped groove 46 to the locked position, and the return spring 42 maintains the tension to ensure that the lock is secure. When it is necessary to cancel the adsorption, the first vacuum suction cup 104 or the second vacuum suction cup 105 moves upward under its own gravity and possible external forces, driving the connecting plate 24 to move upward, thereby causing the transmission plate 6 to move upward. During the upward movement of the transmission plate 6, it no longer has a locking-related restriction effect on the moving block 35. The transmission plate 6 drives the transmission rod 54 and the transmission block 55 to move upward, and drives the roller 59 to move to the left through the transmission groove 56, which in turn drives the abutment rod 57 to move the wedge block 58 to the left and contact the abutment wheel 43, so that the abutment wheel 43 is lifted up. As the transmission plate 6 continues to move upward, the locking structure 4 is released through related linkage. The moving block 35 can move upward under the reset action of the return spring 42, driving the stopper rod 34 to move upward. The stopper rod 34 drives the stopper plate 33 to slide upward in the piston cylinder 31, and delivers outside air to the mounting ring 23 and the first vacuum suction cup 104 through the delivery pipe 32, eliminating the vacuum state and separating the first vacuum suction cup 104 or the second vacuum suction cup 105 from the object.

[0040] The installation, connection, or setting methods disclosed in this embodiment are all common mechanical connection methods. Any method that can achieve its beneficial effect can be implemented. In addition, the electrical components in this embodiment are all electrically connected to the main controller and the power supply. The main controller can be a conventional known device such as a computer that plays a control role. Those skilled in the art can control the electrical components through simple programming. Moreover, the existing disclosed power connection technology is also common knowledge in the field. Therefore, the specific structural composition and working principle will not be described in detail in this embodiment.

[0041] 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.

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