CN110694917A

CN110694917A - Manipulator and sorting device

Info

Publication number: CN110694917A
Application number: CN201910998940.7A
Authority: CN
Inventors: 邵来方; 明振标; 席浩然; 高明; 丛强滋; 孙建宇
Original assignee: Weihai Newbeiyang Zhengqi Robot Co Ltd; Shandong New Beiyang Information Technology Co Ltd
Current assignee: Weihai Newbeiyang Zhengqi Robot Co Ltd; Shandong New Beiyang Information Technology Co Ltd
Priority date: 2019-10-17
Filing date: 2019-10-17
Publication date: 2020-01-17

Abstract

The invention provides a manipulator and a sorting device, relates to the technical field of sorting equipment, and is designed for solving the problem that an air pipe is easy to be wound with other parts in the sorting process of the existing manipulator. The manipulator comprises a base, a first driving mechanism, a sucker mechanism, an air pump and an air pipe connected with the air pump, wherein the first driving mechanism is arranged on the base and comprises a first driving piece and a rotating piece, the first driving piece is in transmission connection with the rotating piece, and the first driving piece is configured to drive the rotating piece to rotate; the rotating piece is provided with a first cavity; the sucking disc mechanism is connected with the rotating piece and is provided with a goods taking position and a goods unloading position, and the rotating piece can drive the sucking disc mechanism to move to the goods taking position or the goods unloading position when rotating; at least part of the air pipe passes through the first cavity and is connected with the sucker of the sucker mechanism. The sorting device comprises the mechanical arm. The manipulator and the sorting device provided by the invention prevent the air pipe from being wound with other parts in the process of moving the sucking disc mechanism between the goods taking position and the goods unloading position.

Description

Manipulator and sorting device

Technical Field

The invention relates to the technical field of sorting equipment, in particular to a manipulator and a sorting device.

Background

In recent years, the logistics industry has been rapidly developed, and in order to improve the sorting efficiency of articles such as parcels and letters, sorting machines are generally adopted to realize the sorting operation of the articles. In order to improve the efficiency of the article package, and reduce the human cost, the correlation technique has adopted the manipulator to carry out the operation of package, promptly: the articles are transferred to a sorter using a robot. The manipulator comprises an air pump, a movable sucker and an air pipe connected between the air pump and the sucker, and when the air pump works, the air pipe is used for providing adsorption force for the sucker so that the sucker can suck articles; then, the sucker moves to the upper part of the sorting machine, the air pump stops working, and the sucker releases the sucked articles to the sorting machine, so that the wrapping operation of the articles is completed. However, in the process of the movement of the suction cup, the air pipe moves along with the suction cup, and the phenomenon that the air pipe is wound with other parts is easily generated.

Disclosure of Invention

The invention aims to provide a manipulator to solve the technical problem that an air pipe is easy to be wound with other parts in the sorting process of the manipulator provided by the related art.

The manipulator provided by the invention comprises a base, a first driving mechanism, a sucker mechanism, an air pump and an air pipe connected with the air pump;

the first driving mechanism is arranged on the base and comprises a first driving piece and a rotating piece, the first driving piece is connected with the rotating piece, and the first driving piece is configured to drive the rotating piece to rotate; the rotating piece is provided with a first cavity;

the sucking disc mechanism is in transmission connection with the rotating piece, the sucking disc mechanism is provided with a goods taking position and a goods unloading position, and the rotating piece can drive the sucking disc mechanism to move to the goods taking position or the goods unloading position when rotating;

at least part of the air pipe penetrates through the first cavity and then is connected with the sucker of the sucker mechanism.

Furthermore, the first driving mechanism further comprises a first supporting seat, and the first supporting seat is fixedly connected with the rotating part; the sucking disc mechanism includes swing arm and sucking disc subassembly, the sucking disc subassembly includes at least one the sucking disc, the first end of swing arm with first supporting seat is connected, the second end of swing arm with the sucking disc subassembly is connected, just the length direction of swing arm with the rotation axis of rotating the piece is the contained angle setting.

Further, the manipulator further comprises a second driving mechanism, the second driving mechanism comprises a second driving piece, the second driving piece is installed on the first supporting seat and is in transmission connection with the swing arm, and the second driving piece is configured to drive the swing arm to rotate.

Furthermore, the swing arm is provided with a second cavity, the second cavity extends along the length direction of the swing arm, a first hole communicated with the second cavity is formed in the first end of the swing arm, a second hole communicated with the second cavity is formed in the second end of the swing arm, a first joint is arranged at the first hole, and a second joint is arranged at the second hole;

the air pipe comprises a first pipe section and a second pipe section, the first pipe section penetrates through the first cavity, two ends of the first pipe section are respectively connected with the air pump and the first joint, and two ends of the second pipe section are respectively connected with the second joint and the sucker.

Further, the first joint is a pneumatic rotary joint.

Further, first supporting seat includes the sleeve, the first end of swing arm with the sleeve is rotationally pegged graft.

Further, the manipulator further comprises a rack and a third driving mechanism, the rack is provided with a track, the base is movably arranged on the track, and the third driving mechanism is configured to drive the base to reciprocate along the extending direction of the track.

Further, the air pump is installed in the frame, and is close to the one end setting of orbital, the axis of rotation of rotating member is on a parallel with orbital length direction.

Further, the rotation piece still be provided with third hole and fourth hole of first cavity intercommunication, the third hole is located the rotation piece be close to the one end of air pump, the fourth hole is located the rotation piece be close to the one end of sucking disc mechanism, the trachea passes the third hole first cavity with the fourth hole with sucking disc mechanism the sucking disc is connected.

The manipulator of the invention has the following beneficial effects:

the invention provides a manipulator which comprises a base, a first driving mechanism, a sucker mechanism, an air pump and an air pipe, wherein the first driving mechanism comprises a first driving piece arranged on the base and a rotating piece in transmission connection with the first driving piece, the first driving piece is used for driving the rotating piece to rotate, and the rotating piece is provided with a first cavity; the sucking disc mechanism is connected to the rotating piece in a transmission mode and provided with a goods taking position and a discharging position, and the rotating piece can drive the sucking disc mechanism to move to the goods taking position or the discharging position when rotating automatically; the air pipe is connected between the air pump and the sucker of the sucker mechanism, and at least one part of the air pipe penetrates through the first cavity.

The mechanical arm is in an initial state that a sucker mechanism of the mechanical arm stays at a goods taking position, when the mechanical arm works, an air pump is started, and the adsorption force of the air pump is output to the sucker mechanism through an air pipe, so that a sucker of the sucker mechanism sucks goods, and goods taking is completed; then, the first driving piece acts to drive the rotating piece to rotate, and the rotating piece rotates to drive the sucker mechanism to revolve around the rotating axis of the rotating piece, so that the sucker mechanism moves from the goods taking position to the goods unloading position; after the sucker mechanism moves to the unloading position, the air pump stops working, the adsorption force of the sucker disappears, so that the goods are released, and unloading is completed; then, the first driving piece drives the rotating piece to rotate in the opposite direction, and the rotating piece drives the sucker mechanism to move from the unloading position to the goods taking position to wait for the next goods to be taken and unloaded.

In the manipulator, part of the air pipe passes through the first cavity of the rotating part and then is connected with the sucker mechanism, or the air pipe completely passes through the first cavity of the rotating part and then is connected with the sucker of the sucker mechanism, so that the arrangement effectively prevents the sucker mechanism from rotating along with the rotating part, and the air pipe and other parts generate winding situations, thereby ensuring the working reliability of the manipulator.

The second objective of the present invention is to provide a sorting device, so as to solve the technical problem that the manipulator provided by the related art is prone to wind the air pipe and other components during the sorting process, thereby causing a sorting failure.

The sorting device provided by the invention comprises a stacking table, a conveying mechanism and the manipulator, wherein the stacking table is used for placing articles, the manipulator is used for conveying the articles on the stacking table to the conveying mechanism, and the conveying mechanism is used for receiving and conveying the articles unloaded by the manipulator;

when the suction cup mechanism is in a pick position, the suction cup mechanism is configured to draw an item from the palletizing station; the suction cup mechanism is configured to unload an item to the conveyor mechanism when the suction cup mechanism is in a discharge position.

The sorting device of the invention has the following beneficial effects:

by arranging the manipulator, the bag stacking table for placing the packages and the conveying mechanism for receiving and conveying the articles unloaded by the manipulator in the sorting device, the manipulator is utilized to deliver the articles between the bag stacking table and the conveying mechanism, and accordingly, the sorting device has all the advantages of the manipulator, and further description is omitted.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a sorting apparatus according to an embodiment of the present invention, when a suction cup mechanism is located at a pickup position;

fig. 2 is a schematic structural view of a sorting apparatus according to an embodiment of the present invention, when the suction cup mechanism is in the unloading position;

FIG. 3 is a partial cross-sectional view of a robot according to an embodiment of the present invention;

fig. 4 is a schematic partial structural diagram of a robot provided in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a rotating member of a robot provided in an embodiment of the present invention;

FIG. 6 is a partial exploded view of a robot provided in accordance with an embodiment of the present invention;

fig. 7 is a second partial sectional view of the robot according to the embodiment of the present invention.

Reference numerals:

010-a manipulator; 020-conveying mechanism; 030-code pack table;

100-a base; 110-a first detection member;

200-a first drive mechanism; 210-a first drive member; 220-a rotating member; 230-a first support; 240-first drive wheel; 250-a first driven wheel; 260-a first drive belt; 270-a tensioning member; 221-a fixing plate; 222-a positioning member; 223-a third aperture; 224-fourth well; 225-a first cavity; 231-a sleeve; 232-a first bearing; 233-a second detection member;

300-a suction cup mechanism; 310-a swing arm; 320-suction cup; 311-a second cavity; 312 — a first aperture; 313-a second hole; 314-a first joint; 315-a second linker; 316-second detection section; 317-mounting a plate;

400-a second drive mechanism; 410-a second driver; 420-a second capstan; 430-a second driven wheel; 440-a second drive belt;

500-a second support seat; 510-a first plate; 520-a second plate; 521-fixing holes;

600-a fixed ring; 610-a first detection section;

700-air pump; 710-a first tube section; 720-a second pipe section;

800-a rack; 810-track;

900-third drive mechanism.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on those shown in the drawings, which are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the term "connected" is to be understood broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; may be directly connected or may be connected through an intermediate medium. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Fig. 1 is a schematic structural view of the sorting device provided in this embodiment when the suction cup mechanism is located at the pickup position, and fig. 2 is a schematic structural view of the sorting device provided in this embodiment when the suction cup mechanism is located at the discharge position. As shown in fig. 1 and 2, the present embodiment provides a sorting apparatus, which includes a palletizing station 030, a conveying mechanism 020 and a manipulator 010, wherein the palletizing station 030 is used for placing articles such as parcels and letters (hereinafter, collectively referred to as parcels), the manipulator 010 is used for conveying the parcels on the palletizing station 030 to the conveying mechanism 020, and the conveying mechanism 020 is used for receiving and conveying the parcels unloaded by the manipulator 010.

When the sorting device is used for sorting packages, the suction cup mechanism 300 of the manipulator 010 can be located at a goods taking position, so that the suction cup mechanism 300 can suck the packages from the package stacking platform 030; thereafter, when the suction cup mechanism 300 moves from the pick-up position to the drop-off position, the packages are unloaded to the conveying mechanism 020, so that the conveying mechanism 020 is used to complete the subsequent sorting operation. When the next parcel is sorted, the suction cup mechanism 300 moves from the unloading position to the picking position, and repeats the above process, so as to transport the parcels on the parcel stacking platform 030 to the conveying mechanism 020 for the subsequent sorting operation.

In the following text, the specific structure and operation of the manipulator 010 will be described in detail.

Fig. 3 is a partial structural cross-sectional view of the robot provided in this embodiment, and fig. 4 is a partial structural schematic view of the robot provided in this embodiment. With reference to fig. 1 and fig. 2, and with reference to fig. 3 and fig. 4, the present embodiment further provides a manipulator 010, the manipulator 010 includes a base 100, a first driving mechanism 200, a suction cup mechanism 300, an air pump 700, and an air tube, specifically, the first driving mechanism 200 is installed on the base 100, the first driving mechanism 200 includes a first driving member 210 and a rotating member 220, the first driving member 210 is in transmission connection with the rotating member 220, the first driving member 210 is used for driving the rotating member 220 to rotate, and the rotating member 220 has a first cavity 225; the sucking disc mechanism 300 is in transmission connection with the rotating piece 220, the sucking disc mechanism 300 is provided with a goods taking position and a goods unloading position, and the rotating piece 220 can drive the sucking disc mechanism 300 to move to the goods taking position or the goods unloading position when rotating; the air tube is connected to the air pump 700, and at least a portion of the air tube passes through the first cavity 225 and then is connected to the suction cup 320 of the suction cup mechanism 300.

When the sucking disc mechanism 300 stays at the goods taking position as an initial state, when packages need to be conveyed to the conveying mechanism 020 from the stacking platform 030, the air pump 700 is started, the air pipe is used for outputting the adsorption force of the air pump 700 to the sucking discs 320 of the sucking disc mechanism 300, so that the sucking discs 320 suck the packages on the stacking platform 030, and the goods taking is completed; then, the first driving member 210 acts to drive the rotating member 220 to rotate, and the rotating member 220 rotates to drive the suction cup mechanism 300 to revolve around the rotating axis of the rotating member 220, so that the suction cup mechanism 300 moves from the pickup position to the discharge position; after the suction cup mechanism 300 moves to the unloading position, the air pump 700 stops working, the suction force of the suction cup 320 disappears, so that the package is placed on the conveying mechanism 020, and the subsequent package sorting operation is completed by the conveying mechanism 020. Then, the first driving member 210 drives the rotating member 220 to rotate in the opposite direction, and the rotating member 220 drives the suction cup mechanism 300 to move from the unloading position to the picking position to wait for picking and unloading of the next cargo.

In the manipulator 010, a part of air pipes pass through the first cavity 225 of the rotating part 220 and then are connected with the sucker 320 of the sucker mechanism 300, or all air pipes pass through the first cavity 225 of the rotating part 220 and then are connected with the sucker 320 of the sucker mechanism 300, so that the arrangement effectively prevents the air pipes connected with the sucker 320 from moving along with the sucker mechanism 300 in the revolution process of the rotating axis of the rotating part 220, thereby causing the air pipes and other parts to be wound, ensuring the working reliability of the manipulator 010 in the embodiment and further ensuring the reliability of sorting packages by the sorting device.

It should be noted that, in the present embodiment, only the example that the robot 010 is applied to the parcel sorting operation is described, it is understood that the robot 010 may also be used for conveying other articles, and this embodiment is not described in detail.

Specifically, in this embodiment, the package is an envelope piece.

Referring to fig. 3 and 4, in the present embodiment, the suction cup mechanism 300 is indirectly connected to the rotating member 220 in a transmission manner, and specifically, the first driving mechanism 200 further includes a first supporting seat 230, and the first supporting seat 230 is fixedly connected to the rotating member 220; the suction cup mechanism 300 comprises a swing arm 310 and a suction cup assembly, the suction cup assembly comprises at least one suction cup 320, wherein a first end of the swing arm 310 is connected with the first supporting seat 230, a second end of the swing arm 310 is connected with the suction cup assembly, and the length direction of the swing arm 310 and the rotating axis of the rotating part 220 form an included angle. That is, the suction cup mechanism 300 is connected to the rotation member 220 through the first supporting base 230.

When the manipulator 010 is used for carrying out a package loading operation, the first driving part 210 is started to drive the rotating part 220 to rotate, so that the swing arm 310 is driven to revolve around the rotating axis of the rotating part 220, the switching of the suction cup mechanism 300 between the goods taking position and the goods unloading position is realized, the suction and the release of the suction cup 320 on a package are realized, and the package loading purpose is achieved.

The length direction of swing arm 310 and the rotation axis of rotating piece 220 are the form that sets up of contained angle, have increased the swing scope of swing arm 310 effectively to make this embodiment manipulator 010 can satisfy the package feeding demand apart from a relatively long distance yard package platform 030 and conveying mechanism 020.

It should be noted that, in the present embodiment, the suction cup mechanism 300 may be indirectly connected to the rotating member 220, but the present invention is not limited thereto, and other arrangements may also be adopted, such as: the suction cup mechanism 300 is directly connected to the rotating member 220, specifically, a first end of the swing arm 310 is directly connected to the rotating member 220, such as being plugged, riveted, welded, etc., and the suction cup assembly is disposed at a second end of the swing arm 310. The present embodiment is not limited to this, as long as the suction cup mechanism 300 can be connected to the rotor 220 by the above arrangement.

Referring to fig. 3 and 4, in the present embodiment, the suction cup assembly further includes a mounting plate 317, the mounting plate 317 is fixedly connected to the second end of the swing arm 310, and the suction cup 320 is disposed on the mounting plate 317. Preferably, the number of the suction cups 320 is plural, and the plural suction cups 320 are arranged at intervals on the mounting plate 317. The arrangement of the suckers 320 enables the manipulator 010 to adsorb the packages simultaneously when the manipulator 010 performs the package loading operation, so that the stability of conveying the packages by the manipulator 010 is improved.

The specific number of the suckers 320 can be selected according to the requirement, in this embodiment, the mounting plate 317 is rectangular, the number of the suckers 320 is four, and the four suckers 320 are respectively arranged at four corners of the mounting plate. In other embodiments, the number of suction cups 320 may also be one, two, etc.

Fig. 5 is a schematic structural diagram of a rotating member of the robot provided in this embodiment. Referring to fig. 3 and 4 in combination with fig. 5, one end of the rotating member 220 is provided with a fixed plate 221, the fixed plate 221 extends along a direction perpendicular to the rotation axis of the rotating member 220, and the first supporting seat 230 is fixedly connected to the fixed plate 221, so as to connect the first supporting seat 230 and the rotating member 220.

Specifically, the fixed plate 221 is integrally formed with the rotating member 220. Of course, the fixing plate 221 may be fixed to the rotating member 220 by welding, or the fixing plate 221 may be fixed to the rotating member 220 by bonding.

With reference to fig. 3 and fig. 4, in this embodiment, the robot 010 may further include a second driving mechanism 400, specifically, the second driving mechanism 400 includes a second driving element 410, the second driving element 410 is installed on the first supporting base 230 and is in transmission connection with the swing arm 310, and the second driving element 410 is configured to drive the swing arm 310 to rotate.

After the suction cup 320 sucks the package on the package stacking platform 030, the first driving member 210 drives the rotating member 220 to rotate to realize the movement of the suction cup mechanism 300 from the pickup position to the unloading position, the second driving member 410 can be started to rotate the swing arm 310, so that the suction surface of the suction cup 320 is opposite to the bearing surface of the conveying mechanism 020 when the suction cup mechanism 300 moves to the unloading position, and the sucked package is accurately placed on the conveying mechanism 020. Similarly, when the suction cup mechanism 300 moves from the unloading position to the pick-up position for a next parcel loading operation, the suction surface of the suction cup 320 located at the pick-up position can be opposite to the parcel on the palletizing table 030 by the second driving member 410, so that the next parcel can be accurately and quickly sucked to complete the subsequent parcel loading operation.

In addition, through setting up second actuating mechanism 400, can also make the identification information face of going up package operation in-process parcel up all the time to carry out information identification, the simple operation to the parcel. In addition, when the suction cup mechanism 300 revolves around the axis of the revolving member 220 so as to move from the pickup position to the discharge position, the swing arm 310 is driven by the second driving mechanism 400 to rotate, so that the article adsorbed by the suction cup assembly is always positioned above the suction cup assembly, and the article is supported by the suction cup assembly, thereby reducing the requirement of the suction force of the suction cup mechanism in the process of carrying the package.

With continued reference to fig. 3 and 4, preferably, the first driving member 210 is a first motor, and the second driving member 410 is a second motor. Moreover, the first driving mechanism 200 may further include a first belt transmission assembly, and the second driving mechanism 400 may further include a second belt transmission assembly, specifically, the first belt transmission assembly is drivingly connected between the first motor and the rotating member 220, and the second belt transmission assembly is drivingly connected between the second motor and the swing arm 310.

Referring to fig. 4, in detail, the first belt transmission assembly includes a first driving wheel 240, a first driven wheel 250 and a first transmission belt 260, wherein the first driving wheel 240 is fixedly sleeved with an output shaft of the first motor, the first driven wheel 250 is fixedly sleeved with the rotation member 220, and the first transmission belt 260 is sleeved on and supported by the first driving wheel 240 and the first driven wheel 250. The belt transmission not only makes the structure of the first driving mechanism 200 more compact, but also makes the rotation process of the rotation member 220 more stable.

Fig. 6 is a partial exploded view of the robot provided in this embodiment. The structure and arrangement of the second belt transmission assembly are similar to those of the first belt transmission assembly, specifically, as shown in fig. 6, the second belt transmission assembly includes a second driving wheel 420, a second driven wheel 430 and a second transmission belt 440, wherein the second driving wheel 420 is fixedly sleeved with an output shaft of the second motor, the second driven wheel 430 is coaxially arranged with the swing arm 310 and rotates synchronously with the swing arm, and the second transmission belt 440 is sleeved on the second driving wheel 420 and the second driven wheel 430 and is supported by the two. The belt transmission not only makes the structure of the second driving mechanism 400 more compact, but also makes the rotation process of the swing arm 310 more stable.

Referring to fig. 6, in the present embodiment, the first driven wheel 250 is provided with a tensioning member 270, wherein the tensioning member 270 is adjustably connected to the rotating member 220, and the tensioning member 270 is used for tightly connecting the first driven wheel 250 and the rotating member 220. By the arrangement, the first driven wheel 250 is fixedly sleeved with the rotating part 220, and the connection is reliable.

It should be noted that, in the present embodiment, the first driven wheel 250 may be a taper sleeve pulley, and the tensioning member 270 is a taper sleeve engaged therewith, and the structure and process for achieving the tight connection between the first driven wheel 250 and the rotating member 220 are well known in the art, and this embodiment is not modified, and therefore will not be described again.

In other embodiments, the first and

second drivers

210, 410 may also be rotary air cylinders. Of course, the first driving member 210 may be a motor, and the second driving member 410 may be a rotary cylinder; alternatively, the first driving member 210 is a rotary cylinder and the second driving member 410 is a motor.

Referring to fig. 3, fig. 4 and fig. 6, in the present embodiment, the first supporting seat 230 includes a sleeve 231, and the first end of the swing arm 310 is rotatably inserted into the sleeve 231. Through setting up sleeve 231, realized the support to swing arm 310, reduced the swing arm 310 warp deformation phenomenon that leads to because of parcel gravity, improved swing arm 310's bearing performance, prolonged the working life of this embodiment manipulator 010.

Fig. 7 is a second partial sectional view of the robot according to the present embodiment. As shown in fig. 7, in this embodiment, the first supporting seat 230 may further include two first bearings 232, the two first bearings 232 are disposed at intervals along the length direction of the sleeve 231, an outer ring of each first bearing 232 is inserted into the sleeve 231, and an inner ring of each first bearing 232 is in sleeved engagement with the swing arm 310. So set up, reduced effectively the swing arm 310 in-process and the sleeve 231 between the frictional force for the motion of swing arm 310 is more smooth and easy.

Referring to fig. 7 and fig. 4, in the present embodiment, the swing arm 310 is provided with a second cavity 311, the second cavity 311 extends along the length direction of the swing arm 310, a first end of the swing arm 310 is provided with a first hole 312 communicated with the second cavity 311, a second end of the swing arm 310 is provided with a second hole 313 communicated with the second cavity 311, the first hole 312 is provided with a first joint 314, and the second hole 313 is provided with a second joint 315. And, the air tube includes a first tube section 710 (the first tube section 710 is partially illustrated in fig. 4) and a second tube section 720, the first tube section 710 passes through the first cavity 225, both ends of the first tube section 710 are respectively connected with the air pump 700 and the first connector 314, and both ends of the second tube section 720 are respectively connected with the second connector 315 and the suction cup 320.

In the operation of the manipulator 010, the gas flow path from the gas pump 700 to the suction cup 320 is: the air pump 700, the first pipe section 710, the first connector 314, the second cavity 311, the second connector 315, the second pipe section 720, and the suction cup 320, that is, the second cavity 311 is a part of the air flow path for directly discharging air. With such an arrangement, the air supply to the suction cup 320 can be realized without providing an air pipe penetrating the swing arm 310, and the air pipe winding phenomenon occurring when the swing arm 310 rotates can be avoided.

Preferably, in this embodiment, the first joint 314 is a pneumatic rotary joint. With such an arrangement, when the swing arm 310 rotates, the end of the first joint 314 connected to the swing arm 310 rotates with the swing arm 310, and the end of the first joint 314 connected to the first pipe section 710 does not rotate with the swing arm 310, so that the first pipe section 710 does not rotate synchronously with the swing arm 310, and therefore the first pipe section 710 is prevented from being twisted and wound around other components, and the working reliability of the manipulator 010 in the embodiment is further ensured.

Referring to fig. 3, fig. 4 and fig. 6, in the present embodiment, the base 100 may further include a second supporting seat 500, and the rotating member 220 is rotatably supported on the second supporting seat 500. The rotator 220 is further provided with a first detecting portion 610, and the base 100 is provided with a first detecting element 110. When the suction cup mechanism 300 is located at the unloading position, the first detecting portion 610 cooperates with the first detecting member 110, and the first detecting member 110 outputs a first detecting signal, such as a high level; when the suction cup mechanism 300 leaves the unloading position, the first detecting portion 610 is separated from the first detecting member 110, and the first detecting member 110 outputs a second detection signal, for example, a low level.

In the working process of the manipulator 010, when the first detection part 610 is matched with the first detection piece 110, the first detection piece 110 outputs a first detection signal, the controller of the manipulator receives the detection signal output by the first detection piece 110, judges that the suction cup mechanism 300 is located at the unloading position, and controls the air pump 700 to stop supplying air to the suction cup 320, so that the suction cup 320 can place the sucked package on the conveying mechanism 020; when the first detecting part 610 is separated from the first detecting member 110, the first detecting member 110 outputs a second detecting signal, and after the controller of the robot receives the detecting signal output by the first detecting member 110, the controller determines that the suction cup mechanism 300 is away from the unloading position, and controls the air pump 700 to provide an adsorption force to the suction cup 320, thereby continuously sucking the package.

Referring to fig. 5, in the present embodiment, a positioning element 222 may be further disposed on the rotating element 220, wherein the positioning element 222 abuts against an edge of the first driven wheel 250 to limit a relative position between the first driven wheel 250 and the rotating element 220. Specifically, the first driven wheel 250 is located between the positioning member 222 and the second support seat 500.

Referring to fig. 3, fig. 4 and fig. 6, in the present embodiment, the manipulator 010 may further include a fixing ring 600, specifically, the fixing ring 600 is sleeved with the rotating component 220 and abuts against the second supporting seat 500, and the fixing ring 600 and the positioning component 222 limit the movement of the rotating component 220 along the rotation axis direction thereof. The first detecting unit 610 is provided in the fixing ring 600. The arrangement of the fixing ring 600 realizes axial limitation of the rotating member 220 on one hand and the installation of the first detecting part 610 on the other hand.

Preferably, the rotating member 220 is in a shaft shape, the second supporting seat 500 includes a first plate 510 and a second plate 520 which are connected at an angle, specifically, the first plate 510 is fixedly connected with the base 100, the second plate 520 is provided with a fixing hole 521, a second bearing is arranged in the fixing hole 521, and the rotating member 220 is in socket fit with the second bearing. With the arrangement, not only is the reliable support of the rotating member 220 realized, but also the friction force between the rotating member 220 and the second supporting seat 500 is reduced, and the smooth rotation of the rotating member 220 is ensured. In this embodiment, the first plate 510 is perpendicularly connected to the second plate 520. Of course, in other embodiments, the first plate 510 and the second plate 520 may not be perpendicular, and the rotating member 220 may also be a rotating body with a varying diameter.

Preferably, the number of the second supporting seats 500 is two, and the two second supporting seats 500 are spaced apart in the direction of the rotation axis of the rotation member 220. The arrangement makes the support of the rotating member 220 more reliable, and further improves the stability of the rotating member 220 in the rotation process.

Referring to fig. 6, in the embodiment, the manipulator 010 further includes a second detecting element 233 and a second detecting portion 316, wherein the second detecting portion 316 is fixedly disposed on the swing arm 310, and the second detecting element 233 is disposed on the first supporting base 230. When the suction surface of the suction cup 320 is opposite to the package, the second detection part 316 is matched with the second detection member 233, and the second detection member 233 outputs a first detection signal, such as a high level; when the suction surface of the suction cup 320 faces the package, the second detection part 316 is separated from the second detection member 233, and the second detection member 233 outputs a second detection signal, for example, a low level. Therefore, the controller may determine whether the suction surface of the suction cup 320 is opposite to the package according to the received detection signal output by the second detection member 233, so as to control the second driving mechanism 400 to drive the swing arm 310 to rotate as needed, so that the suction surface of the suction cup 320 is opposite to or away from the package, for example, when the package on the stacking platform 030 needs to be sucked, the second driving mechanism drives the swing arm 310 to rotate until the second detection member 233 outputs the second detection signal, and the controller controls the second driving mechanism 400 to stop working.

With continued reference to fig. 1 and fig. 2, in the present embodiment, the robot 010 may further include a rack 800 and a third driving mechanism 900, specifically, the rack 800 is provided with a rail 810, the base 100 is movably disposed on the rail 810, the rail 810 extends along the article conveying direction of the conveying mechanism 020, and the third driving mechanism 900 is configured to drive the base 100 to reciprocate along the extending direction of the rail 810.

In the process of loading the package by the robot 010, the third driving mechanism 900 may drive the base 100 to move along the rail 810 with respect to the rack 800, so as to change the positions of the first driving mechanism 200, the second driving mechanism 400, and the suction cup mechanism 300 provided in the base 100. So set up, increased manipulator 010 get goods, put goods scope to the adaptability and the commonality of this embodiment manipulator 010 have been improved.

Preferably, the base 100 is slidably coupled to the rail 810.

Specifically, in the present embodiment, the air pump 700 is mounted on the frame 800 and disposed adjacent to one end of the track 810, and the rotation axis of the rotation member 220 is parallel to the length direction of the track 810. So set up, when base 100 moved along track 810, the part trachea that is located between air pump 700 and the rotation piece 220 was all the time along a direction (also be the extending direction of track 810) extension or compression, has further prevented the winding problem of trachea and other spare parts of this part, can also prevent that base 100 from interfering with air pump 700 in the removal process, has guaranteed the operational reliability of manipulator 010.

Referring to fig. 3 to 6, in the present embodiment, a third hole 223 and a fourth hole 224 may be respectively disposed at two ends of the rotating member 220, wherein the third hole 223 and the fourth hole 224 are both communicated with the first cavity 225, the third hole 223 is located at one end of the rotating member 220 close to the air pump 700, the fourth hole 224 is located at one end of the rotating member 220 close to the suction cup mechanism 300, and the air pipe passes through the third hole 223 and the fourth hole 224 and is connected to the suction cup 320 of the suction cup mechanism 300.

In the form of disposing the third hole 223 and the fourth hole 224 at the two ends of the rotating member 220 along the length direction thereof, the length of the rotating member 220 is utilized as much as possible to accommodate the air tube, so that the length of the air tube section accommodated in the first cavity 225 is increased, the air tube is more attached to the rotating member 220, and the winding between the air tube and other components during the rotation of the rotating member 220 is further reduced. Moreover, this arrangement also concentrates the weight of the air tube more toward the center of the rotation member 220, thereby reducing the torque experienced by the rotation member 220 during rotation.

Preferably, the center line of the third hole 223 coincides with the rotation axis of the rotation member 220.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A manipulator, characterized by comprising:

a base (100);

a first driving mechanism (200) mounted on the base (100), wherein the first driving mechanism (200) comprises a first driving element (210) and a rotating element (220), the first driving element (210) is connected with the rotating element (220), and the first driving element (210) is configured to drive the rotating element (220) to rotate; the rotating member (220) has a first cavity (225);

the sucking disc mechanism (300) is in transmission connection with the rotating piece (220), the sucking disc mechanism (300) is provided with a goods taking position and a goods unloading position, and the rotating piece (220) can drive the sucking disc mechanism (300) to move to the goods taking position or the goods unloading position when rotating;

an air pump (700); and

and the air pipe is connected with the air pump (700), and at least part of the air pipe passes through the first cavity (225) and then is connected with the sucker (320) of the sucker mechanism (300).

2. The manipulator according to claim 1, wherein the first driving mechanism (200) further comprises a first supporting seat (230), the first supporting seat (230) being fixedly connected to the rotating member (220); sucking disc mechanism (300) include swing arm (310) and sucking disc subassembly, the sucking disc subassembly includes at least one sucking disc (320), the first end of swing arm (310) with first supporting seat (230) are connected, the second end of swing arm (310) with the sucking disc subassembly is connected, just the length direction of swing arm (310) with the rotation axis that rotates piece (220) is the contained angle setting.

3. The manipulator according to claim 2, further comprising a second driving mechanism (400), wherein the second driving mechanism (400) comprises a second driving member (410), the second driving member (410) is mounted on the first supporting seat (230) and is in transmission connection with the swing arm (310), and the second driving member (410) is configured to drive the swing arm (310) to rotate.

4. The manipulator according to claim 2 or 3, wherein the swing arm (310) is provided with a second cavity (311), the second cavity (311) extends along the length direction of the swing arm (310), a first end of the swing arm (310) is provided with a first hole (312) communicated with the second cavity (311), a second end of the swing arm (310) is provided with a second hole (313) communicated with the second cavity (311), the first hole (312) is provided with a first joint (314), and the second hole (313) is provided with a second joint (315);

the air pipe comprises a first pipe section (710) and a second pipe section (720), the first pipe section (710) penetrates through the first cavity (225), two ends of the first pipe section (710) are respectively connected with the air pump (700) and the first joint (314), and two ends of the second pipe section (720) are respectively connected with the second joint (315) and the suction cup (320).

5. The manipulator according to claim 4, characterized in that the first joint (314) is a pneumatic rotary joint.

6. The manipulator according to claim 2 or 3, characterized in that the first support (230) comprises a sleeve (231), and the first end of the swing arm (310) is rotatably inserted into the sleeve (231).

7. The manipulator according to any of claims 1 to 3, further comprising a frame (800) and a third driving mechanism (900), wherein the frame (800) is provided with a rail (810), the base (100) is movably provided on the rail (810), and the third driving mechanism (900) is configured to drive the base (100) to reciprocate along an extending direction of the rail (810).

8. The robot hand according to claim 7, wherein the air pump (700) is mounted to the frame (800) and disposed adjacent to one end of the rail (810), and a rotation axis of the rotation member (220) is parallel to a length direction of the rail (810).

9. The robot hand according to claim 8, wherein the rotation member (220) is further provided with a third hole (223) and a fourth hole (224) communicating with the first cavity (225), the third hole (223) is located at an end of the rotation member (220) close to the air pump (700), the fourth hole (224) is located at an end of the rotation member (220) close to the suction cup mechanism, and the air pipe is connected with the suction cup (320) of the suction cup mechanism through the third hole (223), the first cavity (225) and the fourth hole (224).

10. A sorting device, characterized by comprising a palletizing station (030) for placing parcels, a conveying mechanism (020) and the manipulator of any one of claims 1 to 9, the manipulator being configured to transport the articles on the palletizing station (030) to the conveying mechanism (020), the conveying mechanism (020) being configured to receive and convey the articles unloaded by the manipulator; wherein the content of the first and second substances,

when the suction cup mechanism (300) is in a pick position, the suction cup mechanism (300) is configured to draw an item from the palletizing station (030); when the suction cup mechanism (300) is in a discharge position, the suction cup mechanism (300) is configured to discharge an item to the transport mechanism (020).