CN210210443U

CN210210443U - Bottom end supporting pick-up device

Info

Publication number: CN210210443U
Application number: CN201920860979.8U
Authority: CN
Inventors: Chen Liu; 刘臣
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-06-10
Filing date: 2019-06-10
Publication date: 2020-03-31
Anticipated expiration: 2029-06-10

Abstract

The application discloses end effector at support bottom, this end effector at support bottom includes the mount pad, first sucking disc subassembly and second sucking disc subassembly, wherein, the perpendicular setting of second sucking disc in first sucking disc subassembly and the second sucking disc in the second sucking disc subassembly, after top surface and a side of goods are absorbed respectively to two sets of sucking discs, make second group sucking disc drag the goods through rotating this end effector at support bottom, the technical problem that the arm dropped easily when passing through the sucking disc removal goods has been solved, realized dragging the end to the goods, the difficult technological effect that drops.

Description

Bottom end supporting pick-up device

Technical Field

The utility model relates to an automatic transport technical field especially relates to a hold in palm bottom pickup.

Background

In the field of transportation, it is often necessary to transport goods from one location to another. Along with the development of automation technology, the use of arm is more and more popularized, sets up the sucking disc at the tip of arm usually, holds the top of goods through the sucking disc, realizes the transport of goods, uses the arm can improve handling efficiency.

However, in the process of implementing the technical solution of the embodiment of the present application, the inventor of the present application finds that the above-mentioned technology has at least the following technical problems:

only set up the sucking disc at the goods top, when the goods is heavier or sucking disc suction is not firm, the risk that the goods exists and drop.

Disclosure of Invention

The embodiment of the application provides a hold in palm end pickup, this hold in the palm end pickup includes the first group's sucking disc and the second group's sucking disc of perpendicular setting, and after top surface and a side of goods were inhaled respectively to two sets of sucking discs, through rotating this hold in the palm end pickup messenger second group's sucking disc and drag the goods, the technical problem that drops easily when having solved the arm and passing through the sucking disc and removing the goods has realized dragging the end, the difficult technological effect that drops to the goods.

The embodiment of the application provides a bottom end picking device which is arranged on a mechanical arm, wherein the mechanical arm is provided with an end part, and the end part is connected with a mechanical arm body through a rotating shaft; the bottom end effector includes:

the mounting seat is arranged at the end part of the mechanical arm;

the first sucker component comprises a first group of suckers and a first mounting part for bearing the first group of suckers, wherein the first mounting part is mounted on the mounting seat;

the second sucker assembly comprises a second group of suckers and a second mounting part for bearing the second group of suckers, and the second mounting part is arranged on the mounting seat;

the second mounting part comprises a horizontal part and a vertical part which are vertically and fixedly arranged, the vertical part bears a second group of suckers, and the horizontal part is mounted on the mounting seat;

the first group of suckers and the second group of suckers are arranged vertically.

One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

according to the technical scheme, the bottom end pulling pick-up device comprises a first group of suckers and a second group of suckers, wherein the second group of suckers are perpendicularly arranged with the first group of suckers through a second installation part with a right-angle vertical structure, after the two groups of suckers respectively suck the top surface and one side surface of a cargo, the bottom end pulling pick-up device is rotated, the cargo is further rotated by 90 degrees, the second group of suckers are located at the bottom end, the first group of suckers are located at the side end, the second group of suckers can drag the cargo from the bottom, and the cargo is not prone to falling.

Drawings

FIG. 1 is a schematic diagram of a bottom end effector mounted on a robotic arm according to an embodiment of the present application.

Fig. 2 is a schematic structural view of the bottom end effector in the embodiment of the present application.

Fig. 3 is a side view of the bottom end effector of the present application.

Fig. 4 is a schematic top view of the first set of suction cups sucking the cargo according to the embodiment of the present application.

Fig. 5 is a schematic side view of the second set of suction cups for sucking the cargo according to the embodiment of the present application.

Fig. 6 is a schematic view of the rotating drag end effector of the present embodiment.

Wherein, the reference numbers:

1-a mechanical arm body, 2-a rotating shaft, 3-an end part,

10-mounting seat, 11-first group of suckers, 12-first mounting part, 13-linear bearing, 14-spring,

21-a second group of suckers, 22-a second mounting part, 23-a second linear guide rail, 24-a horizontal mounting seat,

221-horizontal section, 222-vertical section.

Detailed Description

In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.

The embodiment of the application provides a hold in palm end picking up ware, should drag rotatable the installing on the arm of end picking up ware, combine fig. 1 to show, the arm commonly used in the art includes arm body 1 and tip 3, tip 3 rotates through pivot 2 and arm body 1 to be connected, the end picking up ware that drags of this application embodiment is particularly suitable for installing in this tip 3, rotate pivot 2 and then drive through the arm and drag the end picking up ware rotatory.

As shown in connection with FIG. 2, the present invention in an embodiment of the present application includes a mount 10, a first suction cup assembly and a second suction cup assembly.

In the present embodiment, the mounting block 10 is mounted to the end 2 of the robot arm.

The first sucker component comprises a first group of suckers 11 and a first mounting part 12, wherein the first group of suckers 11 are mounted on the first mounting part 12 in an array structure, the first mounting part 12 is mounted on a mounting seat 10, the first mounting part 12 can be in a mounting plate structure, and the first group of suckers 11 are tiled on the mounting plate in an array manner; this second sucking disc subassembly includes second group's sucking disc 21 and second installation department 22, and is the same, and second installation department 22 is installed on mount pad 10, and this second group's sucking disc 21 is the installation of array structure on second installation department 22, and second installation department 22 includes mounting panel structure, and second group's sucking disc 21 array tiling on the mounting panel. It can be understood that the first and second mounting portions 12 and 22 are provided with air passage structures, and the air passage structures are communicated with the suction cup and controlled by the mechanical arm, so that the suction cup can absorb objects.

In the embodiment of the present invention, as shown in fig. 2, the second mounting portion 22 is composed of a horizontal portion 221 and a vertical portion 222, which are vertically and fixedly disposed, specifically, the horizontal portion 221 may be a horizontal mounting plate, the vertical portion 222 may be a vertical mounting plate, one end of the horizontal mounting plate is fixedly connected to one end of the vertical mounting plate, and the horizontal mounting plate and the vertical mounting plate are in a right-angle structure, wherein the horizontal portion 221 is mounted on the mounting seat 10 and is parallel to the first mounting portion 12, at this time, the vertical portion 222 is provided with the second set of suction cups 21, and the vertical portion 222 is perpendicular to the first mounting portion 12 and the mounting seat 10; it can be understood that, at this time, the first group of suction cups and the second group of suction cups are in a vertical structure.

When the robot works, the mechanical arm drives the bottom dragging end picking-up device to adsorb a first group of suckers on the top of a target object, and meanwhile, a second group of suckers are adsorbed on the side part of the target object; according to the technical scheme, the rotating shaft of the mechanical arm is utilized, the technical effect that the goods are dragged to the bottom and are not prone to falling can be achieved through a simple mechanical structure, and the stacking and unstacking processes of the objects are achieved conveniently.

In a possible embodiment, the horizontal portion 221 is mounted on the mounting base 10 through a second telescopic mechanism, at this time, the horizontal portion 221 can move telescopically along the suction direction of the second group of suction cups 21, such as the direction a in fig. 1, and further, the second group of suction cups 21 can be driven to move vertically away from the first group of suction cups 11 or vertically close to the first group of suction cups 11. The during operation combines fig. 4, fig. 5, fig. 6, and the arm drives drags the bottom end picker to adsorb first group's sucking disc in the top of target object, and then the horizontal part shrink, and it is close to and adsorbs in the lateral wall of object to drive second group's sucking disc, adsorbs the completion back, and the arm drives drags the bottom end picker to mention the object, and at the in-process of mentioning, the pivot of arm drives drags the bottom end picker rotatory for second group's sucking disc changes bottom end position, and at this moment, second group's sucking disc can drag the object, prevents that the object from droing.

Through the structure, the position of the second group of suckers can be adjusted, and the bottom dragging end pickup can adsorb according to the actual size of an object. For example, compare in the sucking disc array, when the object size is great, first group sucking disc can be located the middle part position on object top, can adsorb and then transport the object to the lateral wall of object through adjusting second group sucking disc, has enlarged the application scope who drags bottom end pickup.

As shown in fig. 3, the horizontal portion 221 is mounted on the horizontal mounting base 24, the second telescopic mechanism includes a second linear guide rail 23, the horizontal mounting base 24 is mounted on the mounting base 10 through the second linear guide rail, and the second linear guide rail is driven by the air cylinder to move, so as to drive the horizontal mounting base and further drive the horizontal portion 221 to move telescopically along the suction direction of the second group of suction cups 21.

In another possible embodiment, as shown in fig. 3, the first mounting portion 12 is mounted to the mounting seat 10 through a linear bearing 13, and an elastic member 14 is disposed outside the linear bearing 13, where the elastic member 14 may be a spring. The linear bearing 13 and the elastic member 14 can play a role of shock absorption and buffering when the first group suction cups 11 absorb an object.

It will be appreciated that in yet another possible embodiment, with reference to the second mounting portion 22, the first mounting portion 12 may also be telescopically mounted on the mounting base 10 via a first linear guide, and the cylinder drives the first linear guide to move, thereby driving the first set of suction cups to be vertically close to the second set of suction cups or vertically far away from the second set of suction cups.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A bottom end picking device is arranged on a mechanical arm, the mechanical arm is provided with an end part (3), and the end part (3) is connected with a mechanical arm body (1) through a rotating shaft (2); characterized in that, hold in the palm end effector includes:

the mounting seat (10), the said mounting seat (10) is installed in the end (3) of the mechanical arm;

the first sucker component comprises a first group of suckers (11) and a first mounting part (12) for bearing the first group of suckers (11), and the first mounting part (12) is mounted on the mounting base (10);

the second sucker assembly comprises a second group of suckers (21) and a second mounting part (22) for bearing the second group of suckers (21), and the second mounting part (22) is mounted on the mounting base (10);

the second mounting part (22) comprises a horizontal part (221) and a vertical part (222) which are vertically and fixedly arranged, the vertical part (222) bears the second group of suckers (21), and the horizontal part (221) is mounted on the mounting seat (10);

the first group of suckers (11) and the second group of suckers (21) are arranged vertically.

2. A bottom end effector according to claim 1, wherein said horizontal portion (221) is telescopically movable in a direction of suction force of said second set of suction cups (21) to bring said second set of suction cups (21) vertically away from said first set of suction cups (11) or vertically closer to said first set of suction cups (11).

3. A bottom end effector according to claim 2, wherein said horizontal portion (221) is mounted to said mounting base (10) by a second telescoping mechanism.

4. A bottom end effector according to claim 3, wherein said second telescoping mechanism includes a second linear guide (23).

5. A bottom end effector according to claim 4, wherein said horizontal portion (221) is telescopically movable along said second linear guide (23) by an air cylinder.

6. A bottom end effector according to any one of claims 1 or 2, wherein said first mounting portion (12) is telescopically movable in a direction of suction of said first group of suction cups (11) to bring said first group of suction cups (11) vertically closer to said second group of suction cups (21) or vertically further away from said second group of suction cups (21).

7. A bottom end effector according to claim 6, wherein said first mounting portion (12) is telescopically mounted to said mounting base by a first telescoping mechanism.

8. The bottom end effector as set forth in claim 7 wherein said first telescoping mechanism includes a first linear guide, and wherein said cylinder drives said first mounting portion telescopically along said first linear guide.

9. A bottom end effector according to claim 1, wherein said first mounting portion (12) is mounted to said mounting block (10) by linear bearings (13).

10. A bottom end effector according to claim 9, wherein said linear bearings (13) are externally coated with resilient members (14).