CN218087539U - Vacuum gripping device - Google Patents

Abstract

The utility model provides a vacuum gripping device, which comprises a base, a sucker component and a leveling device, wherein the sucker component is arranged at the bottom of the base and is used for sucking packages; push away the paper-back edition and put including push pedal and push pedal drive arrangement, the push pedal set up in the sucking disc subassembly, push pedal drive arrangement with the push pedal links to each other and is used for the drive the push pedal is in telescopic motion from top to bottom in the sucking disc subassembly, push pedal drive arrangement can drive the push pedal downstream stretches out and will the parcel is absorb the part that the back is bloated to warp and is pushed away the paper, perhaps push pedal drive arrangement can the sucking disc subassembly is absorbed the parcel is preceding to drive in advance the push pedal downstream stretches out to prevent the parcel is inhaled brokenly.

Description

Vacuum gripping device

Technical Field

The utility model relates to a parcel snatchs technical field, especially relates to a vacuum grabbing device.

Background

Along with express delivery enterprise's high-speed development in recent years, more and more people select the shopping on the net to the express delivery parcel is too much, the great problem of logistics pressure, so vacuum grabbing device is also more and more extensive at the application of express delivery letter sorting, express delivery in-process such as transshipment.

The traditional single type vacuum chuck can only grab the same type of packages, and can not be compatible with packages of different types, sizes and weights. The traditional package packaging types comprise plastic bag packaging, carton packaging, woven bag packaging, paperboard packaging, bubble bag packaging, foam box packaging and the like, the packaging materials are various, meanwhile, the packaging methods are not uniform, and the packaging sizes and weights are different, so that the sucking discs cannot compatibly suck various types of packages.

Although some suction cups are compatible with sucking various packages, the following disadvantages exist:

1. sponge suction cups are used for some suction cups because the sponge is soft and better conforms to the surface of the package, particularly a wrinkled or contoured surface. However, the sponge sucker is provided with an inner cavity, when a soft bag package is sucked, the area of the soft bag contacting the sucker can be sucked into the inner cavity of the sucker, so that the surface of the soft bag is arched and seriously deformed, the success rate of rear-end code scanning is influenced, and the sucking position of the soft bag and even a carton can be damaged when the soft bag is seriously deformed;

2. the effect of sucking the carton by the hard rubber sucker is good, but the soft bag cannot be sucked because the rubber is hard; the soft rubber sucker can suck the soft bag, but the soft rubber sucker has short service life when being used for sucking the carton, and the sucker has small area, so that the soft rubber sucker is easy to drop when being used for sucking a heavier soft bag;

3. the effective suction area of a single sucker is small, so that the suction is insufficient, the quantity of suckers can be increased only for increasing the overall suction, and unstable suction can still exist even when more than two suckers are used for simultaneously sucking a large soft bag or a large carton, so that the bag is very easy to fall off in the movement process of a manipulator; meanwhile, the volume of the equipment is larger due to the excessive increase of the number of the suckers, and the installation space of the equipment is too large, so that interference and collision are easy to occur when a package is grabbed;

4. because solenoid valve (control cylinder and sucking disc admit air), cylinder and sucking disc are independent components and parts respectively, the combination needs erection joint spare, and the pipeline is longer moreover to result in: a. the whole volume of the equipment is too large: various interferences can occur when the packages are grabbed, such as collision to a frame or a guardrail of a conveying table, collision damage to the packages around the sucked objects and the like; b. the whole weight of the equipment is heavier: electromagnetic valves and air cylinders on the market are made of metal materials, and metal connecting pieces are added, so that the overall weight of the sucker is heavier, customers can only select robots with larger loads, and the project cost is increased; c. vacuum build-up and air blow times are longer: when the vacuum electromagnetic valve, the blowing electromagnetic valve or the cylinder switching valve are electrified to work, the gas transmission distance is longer due to the fact that the gas pipes (the electromagnetic valves are communicated with the sucker and the cylinder through the gas pipes), and the response time is prolonged.

SUMMERY OF THE UTILITY MODEL

The utility model provides a vacuum gripping device aims at solving or at least part solves the not enough of above-mentioned background existence, pushes away the flat device through the setting, both can effectively avoid soft bag parcel or slim parcel to bulge in being absorbed the in-process by vacuum chuck and warp and influence and sweep the sign indicating number and read the sign indicating number, can prevent again simultaneously that the parcel from being inhaled brokenly.

The utility model provides a vacuum gripping device, which comprises a base, a sucker component and a leveling device, wherein the sucker component is arranged at the bottom of the base and is used for sucking packages; push away flat device and include push pedal and push pedal drive arrangement, the push pedal set up in the sucking disc subassembly, push pedal drive arrangement with the push pedal links to each other and is used for the drive the push pedal is in telescopic motion from top to bottom in the sucking disc subassembly, push pedal drive arrangement can drive the push pedal downstream stretches out and will the part that the parcel was absorbed the back and is swelled and warp pushes away flat, perhaps push pedal drive arrangement can the sucking disc subassembly is absorbed predrived before the parcel push pedal downstream stretches out to prevent the parcel is inhaled the breakage.

Furthermore, the vacuum gripping device further comprises a guide assembly, the guide assembly is connected with the push plate, and the guide assembly is used for guiding the push plate when the push plate moves up and down in a telescopic mode.

Further, the guide assembly comprises a telescopic rod and a guide cylinder, and the telescopic rod is inserted into the guide cylinder and can move in the guide cylinder in a telescopic mode; the telescopic link with the push pedal links to each other, the telescopic link can drive the push pedal is followed the guide cylinder removes.

Furthermore, the sucker assembly is of a single sucker structure and comprises a fixed sucker fixed at the bottom of the base; the push pedal set up in the fixed suction cup, push pedal drive arrangement is a cylinder, the one end of cylinder with the base links to each other, the other end of cylinder with the push pedal links to each other.

Furthermore, the fixed sucker comprises a first sponge sealing element and a first sucker support, the first sucker support is fixed to the bottom of the valve seat, and the first sponge sealing element is sleeved on the first sucker support.

Furthermore, the sucker assembly is of a double-sucker structure and comprises a first sucker assembly and a second sucker assembly, the first sucker assembly comprises a sucker sleeve and a fixed sucker, the top of the sucker sleeve is connected with the base, and the fixed sucker is arranged at the bottom of the sucker sleeve; the second sucker component is arranged in the sucker sleeve and comprises a sucker driving device and a movable sucker, the movable sucker is arranged at the bottom of the sucker driving device, the sucker driving device is connected with the base and used for driving the second sucker component to move up and down in the sucker sleeve, and the push plate is arranged in the movable sucker.

Furthermore, the second sucker component also comprises a connecting seat, a first through hole is formed in the connecting seat, the sucker driving device is arranged in the first through hole and fixed with the connecting seat, and the sucker driving device can drive the connecting seat to move up and down in a telescopic manner when being telescopic; the movable sucker is arranged at the bottom of the connecting seat, the push plate driving device is an air cylinder, one end of the air cylinder is connected with the connecting seat, and the other end of the air cylinder is connected with the push plate.

Furthermore, a first mounting hole is formed in the connecting seat, the cylinder barrel of the air cylinder is fixed in the first mounting hole, and the piston rod of the air cylinder is connected with the push plate.

Further, the movable sucker comprises a second sponge sealing piece and a second sucker support, the second sucker support is fixed to the bottom of the connecting seat, and the second sponge sealing piece is sleeved on the second sucker support.

Furthermore, the push plate is provided with air holes.

Furthermore, a push plate driving device electromagnetic valve is arranged on the base, a control gas circuit of the push plate driving device electromagnetic valve is connected with the push plate driving device, and the push plate driving device electromagnetic valve is used for controlling the extension of the push plate driving device.

The utility model also provides a parcel snatchs the method, be applied to above the vacuum grabbing device, the parcel snatchs the method and includes:

sucking the package by using a sucker component;

driving a push plate to move towards the package by using a push plate driving device until the bulge deformed part on the package is pushed to be flat by the push plate;

the suction cup assembly releases the package.

The utility model discloses still provide another kind of parcel snatchs the method, be applied to above the vacuum grabbing device, the parcel snatchs the method and includes:

before a parcel is sucked by using a sucker component, a push plate driving device is used for driving a push plate to move towards the parcel, so that the push plate reaches the position of a port of the sucker component; and then the sucker assembly is used for sucking the package, and the push plate can abut against the outer surface of the package to prevent the package from being broken by suction.

The utility model provides a vacuum grabbing device pushes away the flat device through setting up, pushes away the flat device and can play the effect in two aspects: 1. after the sucker component absorbs the package, the push plate driving device is utilized to drive the push plate to move towards the package, so that the bulge and deformation part on the package is pushed to be flat by the push plate, and the phenomenon that the bulge and deformation of the soft bag package or the thin package in the process of being absorbed by the vacuum sucker affect code scanning and reading is effectively avoided; 2. before the sucker component is used for sucking the package, the push plate driving device is used for driving the push plate to move towards the package, so that the push plate reaches the position of the port of the sucker component; then utilize the sucking disc subassembly to absorb the parcel again, the push pedal can lean on in order to prevent that the parcel from being inhaled brokenly (reducing the deformation volume of parcel promptly, preventing that the parcel from being inhaled the inner chamber of sucking disc) with the surface counterbalance of parcel this moment.

Drawings

Fig. 1 is a schematic perspective view of a vacuum gripping device according to a first embodiment of the present invention.

Fig. 2 is a schematic perspective view of the vacuum gripping device according to the first embodiment of the present invention after the second chuck assembly is retracted.

Fig. 3 is a schematic view of a three-dimensional structure of the vacuum gripping device after the second chuck assembly is extended according to the first embodiment of the present invention.

Fig. 4 is an exploded schematic view of a vacuum gripper according to a first embodiment of the present invention.

Fig. 5 is a schematic diagram of the exploded structure of fig. 4.

Fig. 6 is a bottom view of the base of fig. 5.

Fig. 7 is a schematic view of the exploded structure of the base of fig. 5.

Fig. 8 is a top view of the base according to the first embodiment of the present invention.

Fig. 9 isbase:Sub>A schematic cross-sectional view taken alongbase:Sub>A-base:Sub>A of fig. 8.

Fig. 10 is a schematic cross-sectional view taken along line B-B of fig. 8.

FIG. 11 is a top view of a second chuck assembly according to a first embodiment of the present invention.

Fig. 12 is a schematic cross-sectional view taken along line C-C of fig. 11.

Fig. 13 is a schematic cross-sectional view of fig. 11 taken along line D-D.

Fig. 14 is a schematic structural view of a vacuum gas circuit and a compressed gas circuit according to the first embodiment of the present invention.

Fig. 15 is a schematic perspective view of a vacuum gripper according to a second embodiment of the present invention.

Fig. 16 is a bottom view of fig. 15.

Fig. 17 is a schematic diagram of the exploded structure of fig. 15.

Detailed Description

The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

The terms of orientation of the upper, lower, left, right, front, back, top, bottom, etc. (if any) referred to in the specification and claims of the present invention are defined as the positions of the structures in the drawings and the positions of the structures relative to each other, and are only for the sake of clarity and convenience in describing the technical solutions. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.

First embodiment

As shown in fig. 1 to 5, the vacuum gripping device provided by the first embodiment of the present invention includes a base 1 and a suction cup assembly for sucking a parcel (of course, the suction cup assembly is not limited to sucking a parcel, and can also be used for sucking other articles), and the suction cup assembly is disposed at the bottom of the base 1. The sucking disc subassembly is two sucking disc structures, and the sucking disc subassembly includes first sucking disc subassembly 2 and second sucking disc subassembly 3. First sucking disc subassembly 2 includes sucking disc sleeve 21 and fixed sucking disc 22, and sucking disc sleeve 21 is hollow tubular structure, and the top of sucking disc sleeve 21 links to each other with base 1, and fixed sucking disc 22 sets up in sucking disc sleeve 21's bottom. Second sucking disc subassembly 3 sets up in sucking disc sleeve 21 and can be for base 1 telescopic motion from top to bottom, and second sucking disc subassembly 3 includes sucking disc drive arrangement 31 and activity sucking disc 32, and activity sucking disc 32 sets up in sucking disc drive arrangement 31's bottom, and sucking disc drive arrangement 31's top links to each other with base 1 and is used for driving second sucking disc subassembly 3 telescopic motion from top to bottom in sucking disc sleeve 21. When the second sucker assembly 3 moves upwards and retracts into the sucker sleeve 21, the fixed sucker 22 is at the lowest position, and the fixed sucker 22 can suck the first type of packages; when the second suction cup assembly 3 moves downwards and extends out of the suction cup sleeve 21, the movable suction cup 32 is at the lowest position, and at this time, the movable suction cup 32 can suck the second kind of packages.

Specifically, in the present embodiment, small-size parcels and light parcels may be sucked by the second suction cup assembly 3, and large-size parcels and heavy parcels may be sucked by the first suction cup assembly 2. This embodiment is through setting up fixed first sucking disc subassembly 2 and the second sucking disc subassembly 3 of activity, utilizes second sucking disc subassembly 3 to stretch out or retract in first sucking disc subassembly 2 for these two kinds of sucking disc subassemblies can be used for absorbing different types of parcels respectively, and the weight and the size range of absorbing the parcel are bigger, have improved vacuum grabbing device's compatibility, realize snatching different types of parcels. The fixed sucker 22 and the movable sucker 32 are both integral suction surfaces, the effective suction area of the suckers is large (especially the fixed sucker 22), so that the suction force on a package is large, the heavier package can be sucked, and the package is not easy to fall (other sucker combinations on the market are mainly plane transverse combinations, the quantity of the suckers can be increased for achieving enough suction force, so that the volume is overlarge, the suckers are easy to interfere with objects around the sucked package in the working process, the risk of damaging other packages and damaging the suckers due to the fact that the suckers hit a guardrail and a frame of a conveyor exists, and meanwhile, under the same area, the effective suction area is smaller in a mode of increasing the quantity of the suckers, so that the suction force is also small). Meanwhile, the vacuum gripping device has a compact structure, small overall size and light weight.

Further, in the present embodiment, the suction cup sleeve 21 is a sheet metal member made of a metal material so as to have a good structural strength and be able to cope with external impact, collision, and the like. Base 1 is used for solenoid valve 4's installation, and base 1 is the plastics material, has light in weight, advantage that structural strength is high.

Further, as shown in fig. 5 and 13, in this embodiment, the second chuck assembly 3 further includes a guide rod 33, the guide rod 33 is located at one side of the chuck driving device 31, and the guide rod 33 is fixedly connected to the base 1. The guiding rod 33 is used to prevent the sucker driving device 31 from twisting or eccentric when telescoping, and plays a guiding role when the second sucker assembly 3 telescopes.

Further, as shown in fig. 13, in the present embodiment, the guide rod 33 is a hollow structure, the guide rod 33 is communicated with the movable suction cup 32, and vacuum gas or compressed gas can enter the movable suction cup 32 through the guide rod 33.

Specifically, in the present embodiment, the guide rod 33 is a hollow cylinder made of an aluminum alloy material, thereby reducing the weight of the guide rod 33. The top end of the guide rod 33 is communicated with the air path 10 in the base 1 (the air path 10 in the base 1 is described in detail below), the bottom end of the guide rod 33 is communicated with the movable suction cup 32, and vacuum gas or compressed gas in the air path 10 in the base 1 can enter the movable suction cup 32 through the guide rod 33, so that the movable suction cup 32 can suck or release packages. In the embodiment, by adopting a smart concept, the guide rod 33 has dual functions, namely, the guide rod 33 has the guide function of the suction cup driving device 31 and the air passage conduction function (as the ventilation pipeline of the movable suction cup 32), so that structural members are saved, and the manufacturing cost and the whole weight of the product are reduced. Meanwhile, the guide rod 33 is used as an air path, compared with a mode of supplying air to the suction cup driving device 31 by communicating an air pipe with the suction cup driving device 31, the up-and-down telescopic motion of the second suction cup assembly 3 can be prevented from being influenced (if the air pipe is used for supplying air to the suction cup driving device 31, a thicker air pipe (required to convey vacuum air) is generally required, so that not only is the arrangement of elements inconvenient, but also the up-and-down telescopic motion of the second suction cup assembly 3 can be interfered).

Further, as shown in fig. 4 and 5, in the present embodiment, the second suction cup assembly 3 further includes a connection base 34, a top cover 37 and a bottom cover 35, the top cover 37 is disposed on the top of the connection base 34, the bottom cover 35 is disposed on the bottom of the connection base 34, and the connection base 34 is located between the top cover 37 and the bottom cover 35. The top cover 37 is connected to the bottom cover 35 by a connecting rod 38, and the connecting rod 38 is inserted into the connecting base 34, so that the connecting base 34, the top cover 37 and the bottom cover 35 are fixed. The connecting base 34, the top cover 37 and the bottom cover 35 are made of plastic material to reduce the weight thereof.

Further, as shown in fig. 5, fig. 6 and fig. 13, in the present embodiment, a first through hole 341 and a second through hole 342 are disposed in the connecting seat 34, the suction cup driving device 31 is disposed in the first through hole 341 and fixed to the connecting seat 34, and the guiding rod 33 is movably disposed in the second through hole 342; the suction cup driving device 31 can drive the connecting seat 34 to move up and down along the guide rod 33 in a telescopic manner. The movable suction cup 32 is disposed at the bottom of the connecting seat 34, and the guide rod 33 can communicate with the movable suction cup 32 through the second through hole 342.

Further, as shown in fig. 13, in the present embodiment, since the guide rod 33 and the connection seat 34 need to move relatively, a sealing bush 39 is further provided between the guide rod 33 and the connection seat 34, thereby preventing air leakage.

Further, as shown in fig. 13, in the present embodiment, the suction cup driving device 31 is an air cylinder, the suction cup driving device 31 includes a cylinder 311, a piston rod 312 and a bearing cap 314, the piston rod 312 is provided with a piston 313, and the piston rod 312 is movably disposed in the cylinder 311 and can move up and down in the cylinder 311. The piston rod 312 is fixedly connected to the base 1, and the cylinder 311 is disposed in the first through hole 341 and fixed to the connecting seat 34; so set up, not only make the part structural arrangement compact, can practice thrift equipment space, be favorable to sucking disc drive arrangement 31 telescopic motion's stability moreover. Of course, in other embodiments, the suction cup driving device 31 may also be an electric cylinder, a motor, or the like.

Specifically, in the present embodiment, when the compressed gas enters the rodless cavity of the suction cup driving device 31, the suction cup driving device 31 makes an extending motion (i.e. the piston rod 312 extends out of the cylinder 311), and at this time, the cylinder 311 of the suction cup driving device 31 drives the connecting seat 34 to move downward along the guide rod 33 (the piston rod 312 and the guide rod 33 are not moved, and the cylinder 311 and the connecting seat 34 move), so that the second suction cup assembly 3 moves downward and extends; when the compressed gas enters the rod cavity of the suction cup driving device 31, the suction cup driving device 31 makes a retraction movement (i.e. the piston rod 312 extends into the cylinder 311), and at this time, the cylinder 311 of the suction cup driving device 31 drives the connecting seat 34 to move upward along the guide rod 33, so that the second suction cup assembly 3 moves upward and retracts.

Further, as shown in fig. 4, 5 and 13, in the present embodiment, the movable suction cup 32 is fixed below the bottom cover 35, the bottom cover 35 is provided with the vent hole 351 at a position corresponding to the second through hole 342, the second through hole 342 communicates with the vent hole 351, and the guide bar 33 can communicate with the movable suction cup 32 through the second through hole 342 and the vent hole 351.

Further, as shown in fig. 3 and 13, in the present embodiment, a mesh 36 is provided in the vent hole 351, and a mesh is provided on the mesh 36. The mesh enclosure 36 can prevent the movable suction cup 32 from being blocked by a vacuum gas circuit after being sucked into the inner cavity of the movable suction cup 32 when the movable suction cup absorbs a package (particularly a soft bag package), and can prevent other sundries from entering the vacuum gas circuit, meanwhile, the mesh enclosure 36 does not influence the gas circuit conduction, and vacuum gas and compressed gas can smoothly pass through the mesh enclosure 36, so that the normal work of the movable suction cup 32 is not influenced.

Further, as shown in fig. 2, fig. 3 and fig. 5, in this embodiment, the vacuum gripping device further includes a guide plate 5, the guide plate 5 is an annular structure, the guide plate 5 is disposed in the suction cup sleeve 21 and sleeved outside the second suction cup assembly 3, and the guide plate 5 is provided with a mesh 51. The guide plate 5 is fixed with the sucker sleeve 21, the second sucker component 3 can move up and down in a telescopic mode relative to the guide plate 5, and the guide plate 5 plays a role in guiding the second sucker component 3 in the telescopic mode.

Specifically, in the present embodiment, the guide plate 5 is made of plastic material to reduce the weight of the guide plate 5. The guide plate 5 can prevent the fixed sucker 22 from being blocked by a vacuum air passage after the fixed sucker 22 is sucked into the inner cavity of the fixed sucker 22 when the fixed sucker 22 sucks a package (especially a soft bag package), and can prevent other sundries from entering the vacuum air passage, meanwhile, the guide plate 5 does not influence the air passage conduction, and vacuum gas and compressed gas can smoothly pass through the meshes 51 of the guide plate 5, so that the normal operation of the fixed sucker 22 is not influenced. Moreover, the guide plate 5 can play a role in guiding the second sucker component 3 during telescopic motion, and prevent the second sucker component 3 from twisting or being eccentric during the up-down telescopic motion.

Further, as shown in fig. 5, in the present embodiment, the fixed sucker 22 includes a first sponge sealing member 221 and a first sucker support 222, the first sucker support 222 is fixed at the bottom of the sucker sleeve 21, and the first sponge sealing member 221 is sleeved on the first sucker support 222; as shown in fig. 13, the movable suction cup 32 includes a second sponge sealing member 321 and a second suction cup holder 322, the second suction cup holder 322 is fixed at the bottom of the connecting seat 34, and the second sponge sealing member 321 is sleeved on the second suction cup holder 322. First sponge sealing member 221 and second sponge sealing member 321 are the loop configuration, and all adopt soft high elasticity's sponge material, and the surface of parcel unevenness can effectively be laminated to the sponge, has good sealed effect when the sucking disc absorbs the parcel to can establish the vacuum fast in the sucking disc, improve the adsorption efficiency and the adsorption effect of sucking disc, prevent the circumstances such as falling the package.

Further, as shown in fig. 5 and fig. 12, in this embodiment, the vacuum gripping device further includes a push-flat device 6, the push-flat device 6 includes a push plate 61 and a push plate driving device 62, the push plate 61 is disposed in the suction cup assembly, the push plate driving device 62 is connected to the push plate 61 and is configured to drive the push plate 61 to move up and down in the suction cup assembly, the push plate driving device 62 can drive the push plate 61 to move downward to extend out and push flat the portion of the package that swells and deforms after being sucked, or the push plate driving device 62 can drive the push plate 61 to move downward to extend out in advance before the package is sucked by the suction cup assembly, so as to prevent the package from being sucked and broken.

Specifically, in this embodiment, the push plate 61 is made of steel, and the push plate driving device 62 may be a micro cylinder, a needle cylinder, a finger cylinder, or an electric cylinder, a motor, or the like. Because the sucking disc has the inner chamber, when sucking soft bag parcel or slim parcel (including cardboard class parcel), the soft bag contacts the region of sucking disc and can be sucked into the sucking disc inner chamber and lead to this soft bag surface hunch-up, warp seriously to influence the success rate that the sign indicating number was swept to the rear end, still can lead to the absorption position damage of soft bag even carton when serious (surpass the deformation limit of parcel and probably lead to its damage promptly). In this embodiment, by providing the leveling device 6, the leveling device 6 can play two roles: 1. after the sucker assembly absorbs the package, the push plate driving device 62 is used for driving the push plate 61 to move towards the package, so that the bulge deformation part on the package is pushed to be flat by the push plate 61, and the influence on code scanning and code reading caused by bulge deformation of the soft bag package or the thin package in the process of being absorbed by the vacuum sucker is effectively avoided; 2. before the parcel is sucked by the sucker assembly, the push plate driving device 62 is used for driving the push plate 61 to move towards the parcel, so that the push plate 61 reaches the position of the port of the sucker assembly; then utilize the sucking disc subassembly to absorb the parcel again, push pedal 61 can lean on with the surface counterbalance of parcel in order to prevent that the parcel from being sucked brokenly (reducing the deformation volume of parcel promptly, preventing that the parcel from being sucked the inner chamber of sucking disc) this moment.

Further, as shown in fig. 5 and 12, in the present embodiment, the pushing plate 61 is disposed in the movable suction cup 32, one end of the pushing plate driving device 62 (air cylinder) is connected to the connecting seat 34, and the other end of the pushing plate driving device 62 is connected to the pushing plate 61.

Further, as shown in fig. 5 and 12, in this embodiment, the vacuum gripping apparatus further includes a guide assembly 7, the guide assembly 7 is connected to the push plate 61, and the guide assembly 7 is used for guiding the push plate 61 when the push plate 61 moves up and down in a telescopic manner, so as to prevent the moving path of the push plate 61 from deviating.

Further, as shown in fig. 5 and 12, in the present embodiment, the guiding assembly 7 includes an extension rod 71 and a guiding cylinder 72, the extension rod 71 is inserted into the guiding cylinder 72 and can move in the guiding cylinder 72 in an extension and contraction manner; the guide cylinder 72 is connected with the connecting seat 34, the telescopic rod 71 is connected with the push plate 61, and the telescopic rod 71 can drive the push plate 61 to move along the guide cylinder 72.

Further, as shown in fig. 6 and 12, in the present embodiment, the connecting seat 34 is provided with a first mounting hole 343, a cylinder of the push plate driving device 62 (air cylinder) is fixed in the first mounting hole 343, and a piston rod of the push plate driving device 62 is connected to the push plate 61. The connecting base 34 is further provided with a second mounting hole 344, and the guide cylinder 72 is fixedly mounted in the second mounting hole 344.

Further, as shown in fig. 3, in the present embodiment, the pushing plate 61 is provided with an air hole 611, so that the vacuum gas and the compressed gas can smoothly pass through the air hole 611 on the pushing plate 61, thereby not affecting the conduction of the air path, and avoiding affecting the normal operation of the movable suction cup 32.

Further, in this embodiment, the vacuum gripping device further includes a vacuum detection device (not shown), the vacuum detection device includes a pressure sensor and a display device, the pressure sensor is disposed in the first chuck assembly 2 and the second chuck assembly 3, and is used for detecting a vacuum value in the first chuck assembly 2 and the second chuck assembly 3; the display device is arranged on the base 1, and the pressure sensor is connected with the display device through an electric signal, so that the vacuum value can be displayed through the display device.

Further, as shown in fig. 7 to 10, in the present embodiment, a plurality of electromagnetic valves 4 are disposed in the base 1, the plurality of electromagnetic valves 4 include a first vacuum electromagnetic valve 41, a first blowing electromagnetic valve 42, a second vacuum electromagnetic valve 43, and a second blowing electromagnetic valve 44, a control gas circuit of the first vacuum electromagnetic valve 41 and a control gas circuit of the first blowing electromagnetic valve 42 are both communicated with the fixed suction cup 22, and the first vacuum electromagnetic valve 41 and the first blowing electromagnetic valve 42 are respectively used for controlling vacuum gas and compressed gas to enter the fixed suction cup 22, so as to control the fixed suction cup 22 to suck or release the package. The control gas circuit of the second vacuum solenoid valve 43 and the control gas circuit of the second blowing solenoid valve 44 are both communicated with the movable suction cup 32, and the second vacuum solenoid valve 43 and the second blowing solenoid valve 44 are respectively used for controlling vacuum gas and compressed gas to enter the movable suction cup 32, so that the movable suction cup 32 is controlled to suck or release packages.

Specifically, in the present embodiment, after the first vacuum solenoid valve 41 is opened, external vacuum gas (gas with a pressure lower than air) enters the fixed suction cup 22 and takes away air inside the fixed suction cup 22, so that negative pressure is formed inside the fixed suction cup 22, and the fixed suction cup 22 can suck the package; after the first blowing solenoid valve 42 is opened, the external compressed gas (compressed air) enters the fixed suction cup 22 and then breaks the negative pressure state (i.e. vacuum breaking) inside the fixed suction cup 22, so that positive pressure is formed inside the fixed suction cup 22, and the fixed suction cup 22 can release the sucked package. Similarly, the control principle of the second vacuum solenoid valve 43 and the second blowing solenoid valve 44 is the same as that of the first vacuum solenoid valve 41 and the first blowing solenoid valve 42, and the description thereof is omitted.

Further, as shown in fig. 3 to 5, in the present embodiment, the suction cup sleeve 21 and the second suction cup assembly 3 are disposed at an interval, a cavity 20 is formed between an inner wall of the suction cup sleeve 21 and an outer wall of the second suction cup assembly 3, and the control air path of the first vacuum solenoid valve 41 and the control air path of the first blowing solenoid valve 42 are communicated with the fixed suction cup 22 through the cavity 20.

Further, as shown in fig. 7 and 9, in this embodiment, the plurality of electromagnetic valves 4 further include a suction cup driving device reversing valve 45, a control air path of the suction cup driving device reversing valve 45 is communicated with the suction cup driving device 31, and the suction cup driving device reversing valve 45 is used for controlling compressed air to enter a rodless cavity or a rod cavity of the suction cup driving device 31, so as to control the expansion and contraction of the suction cup driving device 31.

Further, as shown in fig. 7 and 14, in this embodiment, a push plate driving device electromagnetic valve 63 is disposed on the base 1, a control air passage of the push plate driving device electromagnetic valve 63 is connected to the push plate driving device 62, and the push plate driving device electromagnetic valve 63 is used for controlling the extension and contraction of the push plate driving device 62, so as to control the up-and-down movement of the push plate 61.

Further, as shown in fig. 14, in the present embodiment, an air channel 10 is disposed in the base 1, and the air channel 10 is integrally disposed in the base 1 (that is, the air channel 10 is formed by molding the base 1 integrally, rather than by connecting an air pipe. The gas path 10 comprises a vacuum gas path 101 for conveying vacuum gas and a compressed gas path 102 for conveying compressed gas, the vacuum gas path 101 and the compressed gas path 102 are respectively communicated with the fixed sucker 22 and the movable sucker 32, and the compressed gas path 102 is also communicated with the sucker driving device reversing valve 45 and the push plate driving device electromagnetic valve 63; the first vacuum solenoid valve 41 and the second vacuum solenoid valve 43 are disposed on the vacuum gas circuit 101, and the first blowing solenoid valve 42, the second blowing solenoid valve 44, the suction cup driving device reversing valve 45, and the push plate driving device solenoid valve 63 are disposed on the compressed gas circuit 102.

Specifically, as shown in fig. 1 and fig. 14, in this embodiment, the vacuum gas circuit 101 includes a main vacuum gas circuit and two branch vacuum gas circuits, the main vacuum gas circuit is communicated with an external vacuum gas source (communicated through the vacuum gas interface 12 on the base 1), and the first vacuum solenoid valve 41 and the second vacuum solenoid valve 43 are respectively disposed on the two branch vacuum gas circuits; the compressed gas path 102 includes a main compressed gas path and four compressed gas branches, the main compressed gas path is communicated with an external compressed gas source (through the compressed gas interface 13 on the base 1), and the first blowing solenoid valve 42, the second blowing solenoid valve 44, the suction cup driving device reversing valve 45 and the push plate driving device solenoid valve 63 are respectively disposed on the four compressed gas branches.

Further, as shown in fig. 7 to 10, in the present embodiment, a valve cavity 11 communicating with the air passage 10 is further disposed in the base 1. The electromagnetic valves 4 are pilot-operated electromagnetic valves, each electromagnetic valve 4 comprises a valve core 4A, a reset elastic part 4B and a pilot valve 4C (except for the push plate driving device electromagnetic valve 63, the push plate driving device electromagnetic valve 63 is only provided with the pilot valve 4C, and the compressed gas volume for driving the push plate driving device 62 to move is small, so the control is not required to be performed in a manner that the pilot valve 4C drives the valve core 4A to move), the valve core 4A and the reset elastic part 4B are both arranged in the valve cavity 11, two ends of the reset elastic part 4B are respectively abutted against the inner walls of the valve core 4A and the valve cavity 11, the pilot valve 4C is arranged on the base 1, the pilot valve 4C is used for controlling the valve core 4A to move towards a first direction so as to conduct the gas circuit 10, and the reset elastic part 4B is used for driving the valve core 4A to move towards a second direction so as to close the gas circuit 10; wherein the first direction and the second direction are opposite directions.

Specifically, in the present embodiment, the elastic return element 4B is a spring, and the pilot valve 4C is disposed on the outer surface of the base 1. The first vacuum solenoid valve 41, the first blowing solenoid valve 42, the second vacuum solenoid valve 43, the second blowing solenoid valve 44, the suction cup driving device reversing valve 45, and the push plate driving device solenoid valve 63 are two-position three-way pilot operated solenoid valves. Specifically, as shown in fig. 7 and 9, the second air-blowing solenoid valve 44 is operated as an example: when the pilot valve 4C is powered on and opened, pilot compressed gas enters the control cavity 111 between the valve core 4A and the inner wall of the base 1, so that the valve core 4A moves upwards, a corresponding gas circuit 10 (a compressed gas circuit 102) is opened, and the elastic part 4B is reset to compress and accumulate force; after the pilot valve 4C is closed, the valve core 4A moves downward under the elastic force of the reset elastic member 4B to reset, so as to close the gas circuit 10, that is, the motion of the valve core 4A is controlled by the switch of the pilot valve 4C, so as to control the opening and closing of the gas circuit 10.

Specifically, this embodiment is through integrating solenoid valve 4 and gas circuit 10 on base 1, compare in the mode that utilizes the trachea to connect, not only greatly reduced vacuum grabbing device's volume and weight, greatly shortened the length of gas circuit 10 moreover to improve the response speed that the vacuum was established and broke the vacuum, and then improve the speed of absorbing the parcel and releasing the parcel.

The embodiment of the utility model provides a still provide a parcel snatchs method, be applied to above vacuum grabbing device, this parcel snatchs method includes:

sucking the package by using a sucker assembly;

driving the push plate 61 to move towards the package by using the push plate driving device 62 until the push plate 61 pushes the bulged and deformed part on the package flat;

the suction cup assembly releases the wrap.

Further, after the suction cup assembly releases the parcel, the push plate driving device 62 drives the push plate 61 to move and retract towards the side far away from the parcel.

The embodiment of the utility model provides a still provide another kind of parcel and snatch method, be applied to above vacuum grabbing device, this parcel snatchs the method and includes:

before the parcel is sucked by the sucker assembly, the push plate driving device 62 is used for driving the push plate 61 to move towards the parcel (namely, to move downwards), so that the push plate 61 reaches the position of the port of the sucker assembly (even if the push plate 61 reaches the lower end of the movable sucker 32, the push plate does not extend out of the movable sucker 32); the package is then sucked by the sucker assembly, and the push plate 61 can abut against the outer surface of the package to prevent the package from being broken by suction.

The following illustrates the operation of the vacuum gripper of this embodiment:

1. when the vacuum gripping device sucks a large-sized package or a heavy package, the first chuck assembly 2 is enabled and the second chuck assembly 3 is in a retracted state, as shown in fig. 2. At the moment, the first vacuum solenoid valve 41 is opened, and vacuum gas enters the fixed suction cup 22 to enable the fixed suction cup 22 to suck and wrap; after the transfer of the package is completed, the first blowing solenoid valve 42 is opened, and the compressed gas enters the fixed suction cup 22 to break the negative pressure state inside the fixed suction cup 22 (i.e., break the vacuum), so that the fixed suction cup 22 releases the sucked package.

2. When the vacuum gripping device sucks a small-sized or light-sized parcel, the second chuck assembly 3 is in an extended state and enabled, as shown in fig. 3. At the moment, the reversing valve 45 of the suction cup driving device is opened, and compressed gas enters a rodless cavity of the suction cup driving device 31, so that the suction cup driving device 31 extends and drives the second suction cup component 3 to extend out; then the second vacuum solenoid valve 43 is opened, and vacuum gas enters the movable suction cup 32 to enable the movable suction cup 32 to suck and wrap; after the parcel is transferred, the electromagnetic valve 63 of the push plate driving device is opened, the push plate driving device 62 drives the push plate 61 to extend out and push the bulged and deformed part on the parcel flat (or the push plate 61 extends out before the parcel is sucked), then the second blowing electromagnetic valve 44 is opened, and compressed gas enters the movable suction cup 32 to break the negative pressure state (namely vacuum breaking) inside the movable suction cup 32, so that the movable suction cup 32 releases the sucked parcel.

The embodiment of the utility model provides a vacuum grabbing device's advantage includes:

1. through setting up fixed first sucking disc subassembly 2 and the second sucking disc subassembly 3 of activity, utilize second sucking disc subassembly 3 to stretch out or retract in first sucking disc subassembly 2 for these two kinds of sucking disc subassemblies can be used for absorbing different types of parcels respectively, and the weight and the size range of absorbing the parcel are bigger, have improved vacuum grabbing device's compatibility, realize snatching different types of parcels. And fixed sucking disc 22 and activity sucking disc 32 are whole adsorption planes, and the effective adsorption area of sucking disc is big (especially fixed sucking disc 22), so big to the suction of parcel, can absorb heavier parcel, and the difficult condition that the parcel dropped that appears.

2. Through the arrangement of the flattening device 6, the flattening device 6 can effectively prevent a code scanning and code reading from being influenced by the fact that a soft bag package or a thin package is bulged and deformed in the process of being sucked by the vacuum chuck, and meanwhile, the package can be prevented from being sucked and broken.

3. Through the ingenious conception, the guide rod 33 has dual functions, namely the guide rod 33 has the guide function of the sucking disc driving device 31 and the air passage conduction function, so that structural members are saved, and the manufacturing cost and the overall weight of a product are reduced. Simultaneously, utilize guide bar 33 as the gas circuit, compare in the mode that utilizes trachea and sucking disc drive arrangement 31 intercommunication to sucking disc drive arrangement 31 air feed, can avoid causing the influence to the up-and-down concertina movement of second sucking disc subassembly 3.

4. Through integrating solenoid valve 4 and gas circuit 10 on base 1, compare in the mode that utilizes the trachea to connect, not only greatly reduced vacuum grabbing device's volume and weight, greatly shortened the length of gas circuit 10 moreover to improve the vacuum and establish and broken vacuum response speed, and then improve the speed of absorbing the parcel and releasing the parcel.

5. The movable sucker 32 and the sucker driving device 31 form a whole, the structure is compact, and the volume and the weight of the device are reduced;

6. the vacuum gripping device is compact in structure, mainly made of plastic, small in overall size and light in weight, and capable of guaranteeing enough suction.

Second embodiment

As shown in fig. 15 to 17, the vacuum gripping device provided by the second embodiment of the present invention is substantially the same as the first embodiment, and has the difference that the suction cup assembly in this embodiment is of a single suction cup structure, i.e., there is no second suction cup assembly 3 that can be extended and retracted, and meanwhile, only one vacuum solenoid valve, one air blowing solenoid valve and the push plate driving device solenoid valve 63 need to be arranged in the base 1.

Specifically, as shown in fig. 16 and 17, in the present embodiment, the suction cup assembly includes a fixed suction cup 22, and the fixed suction cup 22 is fixed on the bottom of the base 1. The push plate 61 is arranged in the fixed sucker 22, the push plate driving device 62 is an air cylinder, one end of the push plate driving device 62 (the air cylinder) is connected with the base 1, and the other end of the push plate driving device 62 is connected with the push plate 61.

Specifically, in the present embodiment, the cylinder of the push plate driving device 62 (air cylinder) is connected to the base 1, and the piston rod of the push plate driving device 62 is connected to the push plate 61.

Further, as shown in fig. 16 and 17, in the present embodiment, the fixed suction cup 22 includes a first sponge sealing member 221 and a first suction cup holder 222, the first suction cup holder 222 is fixed at the bottom of the valve seat 1, and the first sponge sealing member 221 is sleeved on the first suction cup holder 222.

Further, as shown in fig. 17, in the present embodiment, the guide cylinder 72 of the guide assembly 7 is fixed on the base 1, and the telescopic rod 71 of the guide assembly 7 is connected to the push plate 61.

Other structures and operation principles of this embodiment are the same as or similar to those of the first embodiment, and are not described herein again.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (11)

1. The vacuum gripping device is characterized by comprising a base (1), a sucker assembly and a flattening device (6), wherein the sucker assembly is arranged at the bottom of the base (1) and is used for sucking packages; push away flat device (6) including push pedal (61) and push pedal drive arrangement (62), push pedal (61) set up in the sucking disc subassembly, push pedal drive arrangement (62) with push pedal (61) link to each other and are used for the drive push pedal (61) are in telescopic motion from top to bottom in the sucking disc subassembly, push pedal drive arrangement (62) can drive push pedal (61) downstream stretches out and will the part of bulging deformation pushes away the tie after the parcel is absorbed, perhaps push pedal drive arrangement (62) can suction sucking of sucking disc subassembly the parcel is preceding to drive push pedal (61) downstream stretches out, in order to prevent the parcel is inhaled the breakage.

2. The vacuum gripper assembly according to claim 1, characterized in that the vacuum gripper assembly further comprises a guide assembly (7), wherein the guide assembly (7) is connected to the push plate (61), and the guide assembly (7) is used for guiding the push plate (61) during up-and-down telescopic movement.

3. The vacuum gripping device according to claim 2, wherein the guiding assembly (7) comprises a telescopic rod (71) and a guiding cylinder (72), the telescopic rod (71) being inserted in the guiding cylinder (72) and being capable of telescopic movement in the guiding cylinder (72); the telescopic rod (71) is connected with the push plate (61), and the telescopic rod (71) can drive the push plate (61) to move along the guide cylinder (72).

4. The vacuum gripping device according to claim 1, wherein the suction cup assembly is a single suction cup structure, the suction cup assembly comprises a fixed suction cup (22), and the fixed suction cup (22) is fixed at the bottom of the base (1); the push plate (61) is arranged in the fixed sucker (22), the push plate driving device (62) is an air cylinder, one end of the air cylinder is connected with the base (1), and the other end of the air cylinder is connected with the push plate (61).

5. The vacuum gripping device according to claim 4, wherein the fixed suction cup (22) comprises a first sponge sealing member (221) and a first suction cup holder (222), the first suction cup holder (222) is fixed on the bottom of the base (1), and the first sponge sealing member (221) is sleeved on the first suction cup holder (222).

6. The vacuum gripping device according to claim 1, wherein the suction cup assembly is a double suction cup structure, the suction cup assembly comprises a first suction cup assembly (2) and a second suction cup assembly (3), the first suction cup assembly (2) comprises a suction cup sleeve (21) and a fixed suction cup (22), the top of the suction cup sleeve (21) is connected with the base (1), and the fixed suction cup (22) is arranged at the bottom of the suction cup sleeve (21); second sucking disc subassembly (3) set up in sucking disc sleeve (21), second sucking disc subassembly (3) include sucking disc drive arrangement (31) and activity sucking disc (32), activity sucking disc (32) set up in the bottom of sucking disc drive arrangement (31), sucking disc drive arrangement (31) with base (1) links to each other and is used for the drive second sucking disc subassembly (3) are in telescopic motion from top to bottom in sucking disc sleeve (21), push pedal (61) set up in activity sucking disc (32).

7. The vacuum gripping device according to claim 6, wherein the second suction cup assembly (3) further comprises a connecting seat (34), a first through hole (341) is formed in the connecting seat (34), the suction cup driving device (31) is disposed in the first through hole (341) and fixed to the connecting seat (34), and the suction cup driving device (31) can drive the connecting seat (34) to move up and down in a telescopic manner when being extended and retracted; the movable sucker (32) is arranged at the bottom of the connecting seat (34), the push plate driving device (62) is an air cylinder, one end of the air cylinder is connected with the connecting seat (34), and the other end of the air cylinder is connected with the push plate (61).

8. The vacuum gripping device according to claim 7, wherein the connecting base (34) is provided with a first mounting hole (343), a cylinder barrel of the air cylinder is fixed in the first mounting hole (343), and a piston rod of the air cylinder is connected with the push plate (61).

9. The vacuum gripping device according to claim 7, wherein the movable suction cup (32) comprises a second sponge sealing member (321) and a second suction cup support (322), the second suction cup support (322) is fixed at the bottom of the connecting base (34), and the second sponge sealing member (321) is sleeved on the second suction cup support (322).

10. The vacuum gripping device according to claim 1, wherein the push plate (61) is provided with a vent hole (611).

11. The vacuum gripping device according to claim 1, wherein a push plate driving device electromagnetic valve (63) is arranged on the base (1), a control air passage of the push plate driving device electromagnetic valve (63) is connected with the push plate driving device (62), and the push plate driving device electromagnetic valve (63) is used for controlling the extension and retraction of the push plate driving device (62).

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