A material taking unit, a material taking device and a feeding and discharging system

Abstract

The utility model relates to taking equipment technical field discloses a kind of taking unit, taking device and feeding system, comprising: suction cup module, including at least two suction cups;Adjustment module is connected with the suction cup module, under the drive of adjustment module, partial suction cup relative motion relative to other suction cups;At least two pressure detection modules, each pressure detection module is respectively arranged between one suction cup and the adjustment module.The utility model can increase the adsorption contact area with large size inclined product by setting at least two suction cups, improve taking stability;Each suction cup is correspondingly provided with pressure detection module, and the pressure value of each suction cup can be monitored in real time;Adjustment module can drive partial suction cup relative motion relative to other suction cups, can dynamically adjust the relative position and angle of each suction cup according to the inclination angle of product, dynamically adjust the stress state of each suction cup, ensure that each suction cup pressure is balanced.

Description

Technical Field

[0001] This utility model relates to the field of material handling equipment technology, specifically to a material handling unit, a material handling device, and a loading and unloading system. Background Technology

[0002] During the production process, products often undergo multiple processing steps, requiring transfer and handling between these steps. However, in certain situations, such as when glass undergoes AR coating followed by AS coating, the equipment used may be incompatible with the equipment required for AS coating. AR coating equipment is typically angled, resulting in the product being stacked at an angle, while AS coating equipment is horizontal, requiring the product to be placed horizontally at the coating position. This means that during transfer and handling, the glass must first be removed from the angled equipment, then leveled, and finally placed horizontally in the AS coating equipment.

[0003] However, current material handling devices typically use only a single suction cup for material handling. When handling large-sized, tilted products (such as glass after AR coating), the suction cup has a limited adsorption area due to the large size and tilt of the product, resulting in insufficient material handling stability and easy product shaking or falling off. Utility Model Content

[0004] In view of this, the present invention provides a material handling unit, a material handling device, and a loading and unloading system to solve the problem of insufficient material handling stability of current material handling devices when handling large-sized inclined products.

[0005] In a first aspect, this utility model provides a material handling unit, comprising: A suction cup module, wherein the suction cup module includes at least two suction cups; An adjustment module is connected to the suction cup module. Under the drive of the adjustment module, some suction cups move relative to other suction cups. At least two pressure detection modules are provided, with each pressure detection module being disposed between one of the suction cups and the adjustment module.

[0006] In one optional implementation, the adjustment module includes: Connecting bracket; A swing block, which is hinged to the connecting bracket; A telescopic assembly, wherein the telescopic end of the telescopic assembly is hinged to the swing block; The suction cup module is mounted on the swing block.

[0007] In one alternative implementation, the telescopic component includes: Any one of the following: cylinder, oil cylinder, hydraulic rod, or gas spring.

[0008] In one optional embodiment, a limit block is provided on the swing block, which restricts the swing block from swinging further when it abuts against the connecting bracket.

[0009] In one optional implementation, the pressure detection module includes: A pressure sensor is disposed between the suction cup and the swing block.

[0010] In one alternative implementation, the adjustment module is provided with a stripping module.

[0011] In one optional embodiment, the stripping module includes a reciprocating stripping component and a stripping block, wherein the reciprocating stripping component is drivenly connected to the stripping block.

[0012] In one alternative implementation, the adjustment module is provided with a camera module.

[0013] Secondly, this utility model provides a material handling device, comprising: The aforementioned material handling unit; A lifting unit is connected to an adjustment module, and the adjustment module controls the movement stroke through the lifting unit.

[0014] Thirdly, this utility model provides a loading and unloading system, including: Umbrella tilting positioning device; An umbrella, wherein the umbrella is positioned above the umbrella tilting and positioning device; A material-grabbing device is disposed above the umbrella.

[0015] Compared with the prior art, the technical solution of this utility model has the following advantages: The material handling unit provided by this utility model includes: a suction cup module, comprising at least two suction cups; an adjustment module connected to the suction cup module, wherein some suction cups move relative to other suction cups under the drive of the adjustment module; and at least two pressure detection modules, each pressure detection module being respectively disposed between one suction cup and the adjustment module. By providing at least two suction cups, this utility model increases the adsorption contact area with large-sized tilted products, improving material handling stability. Each suction cup is associated with a pressure detection module, which can monitor the pressure value of each suction cup in real time. The adjustment module can drive some suction cups to move relative to other suction cups, dynamically adjusting the relative position and angle of each suction cup according to the tilt angle of the product. This dynamically adjusts the force state of each suction cup, ensuring balanced pressure across all suction cups and avoiding problems such as overpressure damage to the product caused by product tilt or installation errors, or insufficient pressure (or vacuum) in some suction cups leading to ineffective adhesion. This significantly improves the reliability and safety of the material handling process and effectively meets the material handling needs of large-sized tilted products. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a schematic diagram of the structure of a material handling unit provided by this utility model; Figure 2 This is a schematic diagram of the structure of a material handling device provided by this utility model; Figure 3 This is a schematic diagram of the structure of the product of this utility model when it is placed on an umbrella; Figure 4 This is a schematic diagram of the structure of a loading and unloading system provided by this utility model; Figure 5 A schematic diagram of the structure of the first material handling device provided by this utility model when the rear suction cup abuts against the product; Figure 6 A schematic diagram of the structure of the first material handling device provided by this utility model when both the front suction cup and the rear suction cup are in contact with the product; Figure 7 A schematic diagram of the first material handling device provided by this utility model when the product is leveled. Figure 8 A schematic diagram of the structure of the second material handling device provided by this utility model when the rear suction cup abuts against the product; Figure 9 A schematic diagram of the structure of the second material handling device provided by this utility model when both the front suction cup and the rear suction cup are in contact with the product; Figure 10 This is a structural diagram of the second material handling device provided by this utility model when the product is leveled.

[0018] Explanation of reference numerals in the attached figures: 1. Material handling unit; 10. Adjustment module; 1011. Swing bracket; 1012. Limit block; 1013. Adjustment cylinder; 1014. First pivot shaft; 1015. Pressure sensor; 1016. Swing block; 1017. Lifting unit connecting bracket; 1018. Second pivot shaft; 1019. Mounting base; 20. Suction cup module; 2021. First suction cup; 2022. Second suction cup; 30. Camera module; 40. Stripping module; 4041. Reciprocating stripping component; 4042. Stripping block; 2. Lifting unit; 3. Umbrellas; 4. Umbrella tilting and positioning device. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments 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.

[0020] According to an embodiment of the present invention, in a first aspect, a material handling unit is provided, combined with... Figure 1 As shown, the system includes a suction cup module 20, an adjustment module 10, and a pressure detection module. The suction cup module 20 includes at least two suction cups. The adjustment module 10 is connected to the suction cup module 20, and under the drive of the adjustment module, some suction cups move relative to the other suction cups. At least two pressure detection modules are provided, each pressure detection module being positioned between one suction cup and the adjustment module 10.

[0021] The aforementioned material handling unit, by incorporating at least two suction cups, can increase the adsorption contact area with large, tilted products. For large, tilted products (such as AR-coated glass), multi-point adsorption can distribute the product weight, reduce concentrated force at a single point, improve material handling stability, and solve the problem of shaking or detachment caused by the limited adsorption area of ​​a single suction cup.

[0022] Meanwhile, each suction cup is equipped with a pressure detection module, which can monitor the pressure value of each suction cup in real time. In conjunction with the adjustment module 10, the motion control of the suction cup module 20 is achieved. The adjustment module 10 can drive some suction cups to move relative to other suction cups. It can dynamically adjust the relative position and angle of each suction cup according to the tilt angle of the product, and can dynamically adjust the force state of each suction cup to ensure that the pressure of each suction cup is balanced. This achieves constant pressure control during material handling, avoiding problems such as overpressure damage to the product caused by product tilt or installation errors, and insufficient pressure (or vacuum) of some suction cups that fail to effectively engage. This significantly improves the reliability and safety of the material handling process and increases the product yield.

[0023] Taking the glass picking process after AR coating and stacking as an example, since the glass is stacked at an angle in the AR coating umbrella, after picking up one piece of glass, subsequent pieces may slip, resulting in inconsistent positions and angles among the glass pieces. The aforementioned picking unit addresses this problem by using a pressure detection module to monitor the pressure values ​​of each suction cup in real time. This, combined with the adjustment module 10 driving the movement of some suction cups, dynamically adapts to changes in the glass's tilt angle, ensuring that each piece of glass is uniformly adsorbed and preventing unstable adsorption or inconsistent angles. During the AR-coated glass picking process, the picking unit automatically compensates for the displacement of subsequent glass caused by the removal of the previous piece, maintaining adsorption stability and angle consistency. This enables tilted picking of products at multiple angles, significantly improving picking accuracy and reliability.

[0024] Furthermore, the aforementioned material handling unit is not limited to the material handling scenario of stacked glass after AR coating, but can also be adapted to material handling scenarios of other products, while realizing constant pressure control when handling materials at different angles to prevent damage to the product due to overpressure.

[0025] In some embodiments, the adjustment module 10 includes a connecting bracket, a swing block 1016, and a telescopic assembly. One end of the swing block 1016 is hinged to the connecting bracket via a first pivot shaft 1014. The telescopic end of the telescopic assembly is hinged to the other end of the swing block 1016 via a second pivot shaft 1018, and the fixed end of the telescopic assembly is hinged to the connecting bracket. A suction cup module 20 is disposed on the swing block 1016, and the suction cup module 20 is arranged facing away from the telescopic assembly.

[0026] In this embodiment, when the telescopic component extends or retracts, it can drive the swing block 1016 to swing relative to the connecting bracket, thereby flexibly adjusting the tilt angle of the suction cup module, ensuring that multiple suction cups are fully attached to the tilted product surface when picking up materials, and avoiding the problem of some suction cups being suspended or not adsorbing properly due to angle deviation.

[0027] When the pressure detection module detects an abnormal pressure on a suction cup, such as when the pressure is too low due to incomplete angle contact, the adjustment module can fine-tune the swing angle in real time based on the feedback signal until the pressure of all suction cups reaches a balanced state, ensuring adsorption reliability.

[0028] If the driving angle of the adjustment module 10 is too large, causing excessive pressure between the suction cup and the product, the pressure detection module can trigger a stop or reverse adjustment. When the pressure detection module triggers reverse adjustment, the pressure detection module will transmit a feedback signal to the telescopic component of the adjustment module 10. The telescopic component will drive the suction cup to move away from the product, avoiding product breakage or suction cup damage due to mechanical hard limit.

[0029] More specifically, the telescopic assembly includes any one of a pneumatic cylinder, a hydraulic cylinder, a hydraulic rod, or a gas spring. Pneumatic cylinders have a simple structure and rapid response, making them suitable for pneumatic drive systems; hydraulic cylinders and hydraulic rods provide greater output force, suitable for high-load scenarios; gas springs have buffering characteristics, absorbing impacts during adjustment and ensuring smooth and reliable swinging motion. Preferably, the telescopic assembly is an adjusting cylinder 1013.

[0030] More specifically, the connecting bracket includes a lifting unit connecting bracket 1017 and a swing bracket 1011. The swing bracket 1011 is connected to the lifting unit connecting bracket 1017, and the two form an L-shaped bracket. The lifting unit connecting bracket 1017 is connected to the lifting unit 2. The fixed end of the telescopic component is fixedly mounted on the lifting unit connecting bracket 1017, and the swing block 1016 is specifically hinged to the swing bracket 1011. The swing bracket 1011 and the telescopic component are arranged side by side.

[0031] More specifically, a groove is provided on the top surface of the swing block 1016, and the telescopic end of the telescopic component extends into the groove and is hinged to the second pivot shaft 1018 that passes laterally through the groove. A mounting base 1019 is provided at the bottom end of the lifting unit connecting bracket 1017, and the fixed end of the telescopic component is hinged to the mounting base 1019.

[0032] Multiple suction cups in the suction cup module 20 can be arranged along the length of the swing block 1016 or along the width of the swing block 1016. As a specific embodiment, taking two suction cups arranged along the length of the swing block 1016 as an example, the position where the telescopic component is connected to the swing block 1016 corresponds to the first suction cup 2021, and the position where the swing bracket 1011 is connected to the swing block 1016 corresponds to the second suction cup 2022.

[0033] In some embodiments, a limiting block 1012 is provided on the swing block 1016. When the limiting block 1012 abuts against the connecting bracket, it restricts the further swing of the swing block 1016, thereby limiting the swing angle of the swing block 1016. The side wall of the limiting block 1012 near the swing bracket 1011 is parallel to the vertical wall of the swing bracket 1011. Therefore, when the telescopic component drives the swing block 1016 to swing to the position where the limiting block 1012 touches the vertical wall of the swing bracket 1011, the swing bracket 1011 restricts the swing position of the limiting block 1012 and the swing block 1016. At this time, the swing block 1016 is in a horizontal state, and the product adsorbed on the suction cup below the swing block 1016 is in a horizontal state.

[0034] In some embodiments, the pressure detection module includes a pressure sensor 1015, which is disposed between the suction cup and the swing block 1016. The pressure sensor 1015 is positioned close to the suction cup and can directly detect the actual contact pressure between the suction cup and the product surface. For example, when the suction cup adsorbs tilted glass, if a suction cup does not make complete contact due to unevenness of the product surface or angular deviation, the pressure sensor 1015 can immediately detect the pressure anomaly. Compared to traditional indirect detection methods (such as detecting the pressure of the air supply main connected to the suction cup), the feedback is more accurate and the response is faster.

[0035] In some embodiments, the adjustment module 10 is provided with a stripping module 40, which is used to slice the product so that the suction cup module 20 can only pick up one product at a time.

[0036] The stripping module 40 includes a reciprocating stripping component 4041 and a stripping block 4042. The reciprocating stripping component 4041 can be any one of a cylinder, hydraulic cylinder, hydraulic rod, or gas spring. The stripping block 4042 is connected to the telescopic end of the reciprocating stripping component 4041. When the stripping module 40 is stripping, the reciprocating stripping component 4041 drives the stripping block 4042 to reciprocate and tap, thereby knocking off excess products that are stacked and adsorbed under the suction cup due to electrostatic effects, etc., so that the suction cup only adsorbs one product at a time, thus preventing excess products from being trapped during product adsorption due to electrostatic effects, resulting in stacking or even falling and damaging the products.

[0037] In some embodiments, a camera module 30 is provided on the adjustment module 10. The camera module 30 is used to capture the position information of the positioning product. The camera module 30 may include a high-resolution camera and an image processing unit. By capturing product images in real time and analyzing the position information of the images, it ensures that the material picking position is accurately aligned, thereby improving the adsorption success rate and reducing positioning deviation.

[0038] According to an embodiment of the present invention, in a second aspect, in conjunction with Figure 2 As shown, a material handling device is provided, including a material handling unit 1 and a lifting unit 2. The lifting unit 2 is connected to an adjustment module 10, and the adjustment module 10 controls the movement stroke through the lifting unit 2. The lifting unit 2 can be a robotic arm of a robot or other lifting structures.

[0039] The material handling device can be configured in two ways. The arrangement of the swing block 1016, limit block 1012, and telescopic component differs between the first and second types of material handling devices. (Combined) Figure 5 As shown, the extension ends of the limiting block 1012 and the swing block 1016 of the first material handling device are located on the front side of the swing bracket 1011, the telescopic assembly is located on the front side of the swing bracket 1011, and the unloading module 40 is located on the rear side of the swing bracket 1011. Combined Figure 8As shown, the limiting block 1012 of the second material handling device is located on the front side of the swing bracket 1011, the extension end of the swing block 1016 and the telescopic assembly are located on the rear side of the swing bracket 1011, and the unloading module 40 is located on the rear side of the swing bracket 1011.

[0040] The specific process of the first material handling device in handling the product placed on the inclined surface at the front end of the umbrella tilting and positioning device 4 is as follows: S1. When the lifting unit 2 drives the picking unit 1 to pick up the material, the camera module 30 first captures the position information of the product, and the picking device moves horizontally to the position of the product to be picked up.

[0041] S2. Then, the lifting unit 2 moves the material handling unit 1 down from the preset position. The suction cup located on the rear side first contacts and holds the product. At this time, the pressure sensor on the suction cup located on the rear side detects the pressure value and combines it with... Figure 5 As shown. When the suction cup is adsorbing, it will be compressed and deformed by approximately 1-2mm. The preset pressure value can be A. When the pressure sensor on the rear suction cup detects that the pressure value reaches the preset value A, the lifting unit 2 stops moving downwards. At this time, the adjusting cylinder 1013 extends its piston rod, driving the swing block 1016 to rotate along the first pivot shaft 1014, thereby causing the front suction cup to rotate and move downwards to contact the product, combined with... Figure 6 As shown. When the pressure value monitored by the pressure sensor on the front suction cup reaches the preset value A, the adjusting cylinder 1013 stops extending and retracting. At this time, both the front and rear suction cups adapt to the angle of the product, and both the front and rear suction cups deform and press against the product. After turning on the vacuum suction system connected to the suction cups, the product can be adsorbed.

[0042] S3. When the front and rear suction cups adsorb products, the lifting unit 2 drives the picking unit 1 to move up a small distance (about 2mm). If the height is too high, the products below are easy to fall and be damaged when the material is picked up. Then the reciprocating stripping component 4041 drives the stripping block 4042 to hit back and forth several times to knock off the excess products that are stacked and adsorbed under the suction cup due to the effect of static electricity, so that the suction cup only adsorbs one product at a time.

[0043] S4. After the unloading operation, the lifting unit 2 drives the picking unit 1 to continue moving upward. At this time, the adjusting cylinder 1013 can retract the piston rod, driving the swing block 1016 to rotate upward. When the adjusting cylinder 1013 drives the swing block 1016 to swing to the position where the limit block 1012 touches the vertical wall of the swing bracket 1011, the swing bracket 1011 restricts the swing position of the limit block 1012 and the swing block 1016. At this time, the swing block 1016 is in a horizontal state, and the product adsorbed on the suction cup set below the swing block 1016 is in a horizontal state, so that the product is leveled. Figure 7 As shown.

[0044] The second type of material handling device handles the following process when handling products placed on the inclined surface at the front end of the umbrella tilting and positioning device 4: S10. When the lifting unit 2 drives the picking unit 1 to pick up the material, the camera module 30 first captures the position information of the product, and the picking device moves horizontally to the position of the product to be picked up.

[0045] S20, then the lifting unit 2 drives the material handling unit 1 to move down from the preset position. The suction cup located on the rear side first contacts and holds the product. At this time, the pressure sensor on the suction cup located on the rear side detects the pressure value, combined with... Figure 8 As shown. During suction, the suction cup is compressed and deformed. A preset pressure value A can be set. When the pressure sensor on the rear suction cup detects a pressure value reaching the preset value A, the lifting unit 2 continues to move downwards. The rear suction cup will not continue to deform; instead, it will push the adjusting cylinder 1013 to retract the piston rod, causing the swing block 1016 to rotate to adapt to the product's angle, until the front suction cup also contacts and holds the product. At this point, the pressure sensor on the front suction cup also reaches the preset value A. The lifting unit 2 stops moving downwards, and the vacuum suction system connected to the suction cup is activated to suction the product. Figure 9 As shown.

[0046] S30. When the front and rear suction cups adsorb products, the lifting unit 2 drives the picking unit 1 to move up a short distance, and then the reciprocating stripping component 4041 drives the stripping block 4042 to move up and down and beat several times to knock off the excess products that are stacked and adsorbed under the suction cup due to the effect of static electricity, so that the suction cup adsorbs only one product at a time.

[0047] S40. After the unloading operation, the lifting unit 2 drives the picking unit 1 to continue moving upward. At this time, the product under the swing block 1016 is removed from the umbrella, and the supporting force disappears. Since the adjusting cylinder 1013 is a constant force output method, the adjusting cylinder 1013 will automatically extend the piston rod, driving the swing block 1016 to rotate until the limit block 1012 abuts against the swing bracket 1011, realizing automatic leveling. Figure 10 As shown.

[0048] According to an embodiment of the present invention, in a third aspect, in conjunction with Figures 1 to 10 As shown, a loading and unloading system is provided, including an umbrella tilting and positioning device 4, an umbrella 3, and a material picking device. The umbrella 3 is positioned above the umbrella tilting and positioning device 4. The material picking device is positioned above the umbrella 3.

[0049] Among them, umbrella 3 can be an AR coated umbrella. After the product is AR coated, the AR coated umbrella is transported to the umbrella tilting and positioning device 4. The material handling device then unloads the product from the AR coated umbrella and places it flat in the AS coated umbrella or positioning platform to facilitate subsequent AS coating operations.

[0050] The umbrella tilting positioning device 4 can be provided with tilting slopes at both the front and rear ends. The front end of the umbrella tilting positioning device 4 is a slope that tilts upward from front to back, and the rear end of the umbrella tilting positioning device 4 is a slope that tilts upward from back to front.

[0051] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A material handling unit, characterized in that, include: A suction cup module (20) comprising at least two suction cups; Adjustment module (10), which is connected to suction cup module (20), under the drive of adjustment module, some suction cups move relative to other suction cups; At least two pressure detection modules are provided, each of which is respectively disposed between one of the suction cups and the adjustment module (10).

2. The material handling unit according to claim 1, characterized in that, The adjustment module (10) includes: Connecting bracket; A swing block (1016) is hinged to the connecting bracket; A telescopic assembly, wherein the telescopic end of the telescopic assembly is hinged to the swing block (1016); The suction cup module (20) is mounted on the swing block (1016).

3. The material handling unit according to claim 2, characterized in that, The telescopic component includes: Any one of the following: cylinder, oil cylinder, hydraulic rod, or gas spring.

4. The material handling unit according to claim 2, characterized in that, A limit block (1012) is provided on the swing block (1016), and when the limit block (1012) abuts against the connecting bracket, it restricts the swing block (1016) from swinging further.

5. The material handling unit according to claim 2, characterized in that, The pressure detection module includes: A pressure sensor (1015) is disposed between the suction cup and the swing block (1016).

6. The material handling unit according to claim 1, characterized in that, The adjustment module (10) is equipped with a stripping module (40).

7. The material handling unit according to claim 6, characterized in that, The stripping module (40) includes a reciprocating stripping component and a stripping block, wherein the reciprocating stripping component is driven to connect with the stripping block.

8. The material handling unit according to any one of claims 1-7, characterized in that, The adjustment module (10) is equipped with a camera module (30).

9. A material handling device, characterized in that, include: The material handling unit (1) according to any one of claims 1-8; Lifting unit (2), which is connected to adjustment module (10), and adjustment module (10) controls the movement stroke through lifting unit (2).

10. A loading and unloading system, characterized in that, include: Umbrella tilting positioning device (4); The umbrella (3) is positioned above the umbrella tilting and positioning device (4); The material-grabbing device of claim 9 is disposed above the umbrella (3).

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