CN218905435U

CN218905435U - Suction tool and robot

Info

Publication number: CN218905435U
Application number: CN202223075288.8U
Authority: CN
Inventors: 马跃东; 季浩; 付翱
Original assignee: Mecarmand Shanghai Robot Technology Co ltd
Current assignee: Mecarmand Shanghai Robot Technology Co ltd
Priority date: 2022-11-18
Filing date: 2022-11-18
Publication date: 2023-04-25
Anticipated expiration: 2032-11-18

Abstract

The disclosure provides a suction tool and a robot, and relates to the technical field of robot pickup and carrying. The suction tool comprises a mounting assembly, a connecting assembly, a sucker assembly and a telescopic mechanism; the connecting component connects the sucker component to the mounting component in a rotatable manner; the telescopic mechanism is arranged between the mounting assembly and the sucker assembly; the telescoping mechanism is configured to be capable of being positioned in an elongated manner in abutment with the clamp between the suction cup assembly and the mounting assembly and thereby causing the suction cup assembly to be stationary relative to the mounting assembly and capable of allowing the suction cup assembly to be rotated relative to the mounting assembly by a retraction manner. Therefore, the suction disc assembly can be adjusted in an adaptive manner, so that the suction disc assembly can be better attached to the surface of an article, and the article with uneven surface can be smoothly and reliably sucked.

Description

Suction tool and robot

Technical Field

The disclosure relates to the technical field of robot pickup and carrying, in particular to a suction tool and a robot.

Background

In recent years, with the rapid development of the logistics industry, the robot picking and carrying objects has gradually replaced the traditional manual picking and carrying.

In the related art, a robot mainly sucks articles through a sucker and carries the articles. However, when the robot sucks articles with uneven surfaces such as gunny bags and paper bags, the robot cannot be well attached to the surfaces of the articles and form a negative pressure space, so that the robot may fail to suck and convey the articles with uneven surfaces such as gunny bags and paper bags, or the articles fall in the middle due to the fact that the suction is not firm.

Therefore, how to make the sucking disc smoothly and reliably suck objects with uneven surfaces such as gunny bags, paper bags and the like is a problem to be solved.

Disclosure of Invention

In order to solve the problem mentioned in the background art, this disclosure provides a suction tool and robot, this suction tool and robot are connected in installation component in rotatable mode through setting up the sucking disc subassembly to when the article butt joint with surface unevenness such as gunny bag, paper package, the angle of adjustment sucking disc subassembly that can be self-adaptation, so that sucking disc subassembly can be fine with article surface laminating and form negative pressure space, thereby make sucking disc subassembly can be smooth and reliable absorb the article of surface unevenness such as gunny bag, paper package.

In order to achieve the above object, the present disclosure provides the following technical solutions:

in a first aspect, the present disclosure provides a suction tool comprising a mounting assembly, a connection assembly, a suction cup assembly, and a telescoping mechanism; the connecting assembly rotatably connects the suction cup assembly to the mounting assembly; the telescopic mechanism is arranged between the mounting assembly and the sucker assembly; the telescoping mechanism is configured to be capable of being held in an elongated manner in abutment between the suction cup assembly and the mounting assembly and thereby causing the suction cup assembly to be stationary relative to the mounting assembly and capable of being retracted to permit rotation of the suction cup assembly relative to the mounting assembly.

In one possible implementation of the above suction tool, the connection assembly includes a first connection member and a second connection member; the first end of the first connecting piece is fixedly connected with the mounting assembly, the first end of the second connecting piece is fixedly connected with the sucker assembly, and the second end of the first connecting piece is rotationally connected with the second end of the second connecting piece, so that the sucker assembly rotates or swings relative to the mounting assembly and deviates from the direction that the mounting assembly points to the first connecting piece.

In one possible implementation manner of the suction tool, the second end of the first connecting piece is rotationally connected with the second end of the second connecting piece through a connecting shaft, the connecting shaft is perpendicular to the direction of the mounting assembly pointing to the first connecting piece, and the second connecting piece swings back and forth relative to the first connecting piece around the connecting shaft.

In one possible implementation manner of the suction tool, the telescopic mechanism includes at least two telescopic mechanisms, and the at least two telescopic mechanisms are distributed on two opposite sides of the connecting assembly along a direction perpendicular to the connecting shaft.

In one possible implementation of the suction tool, the suction cup assembly includes a negative pressure device and a suction cup, the negative pressure device being located between the connection assembly and the suction cup; the negative pressure device is used for forming negative pressure on one surface of the sucker, which faces away from the negative pressure device.

In one possible implementation of the above suction tool, the suction cup includes at least one of a sponge suction cup and a rubber suction cup.

In one possible implementation of the above suction tool, the negative pressure device includes at least one of a vacuum generator and a suction fan.

In one possible implementation manner of the suction tool, the mounting assembly includes a first mounting member, a second mounting member, and a buffer mechanism, where the first mounting member and the second mounting member are disposed at intervals, and the buffer mechanism is disposed between the first mounting member and the second mounting member; the connecting component and the telescopic mechanism are arranged on one surface of the second mounting piece, which is away from the first mounting piece; the first mounting piece is used for being connected with a robot.

In a possible implementation manner of the suction tool, the mounting assembly further comprises a guide mechanism, wherein the guide mechanism comprises a first guide part and a second guide part; the first guide part is arranged on one of the first mounting piece and the second mounting piece, the second guide part is arranged on the other one of the first mounting piece and the second mounting piece, and the first guide part and the second guide part are movably matched so as to guide when the first mounting piece and the second mounting piece are close to or far away from each other.

In one possible implementation manner of the suction tool, the first guide portion includes a guide hole, the second guide portion includes a guide rod, the guide hole is disposed on one of the first mounting piece and the second mounting piece, a first end of the guide rod is fixedly connected to the other of the first mounting piece and the second mounting piece, and a second end of the guide rod movably penetrates through the guide hole.

In one possible implementation manner of the suction tool, the buffer mechanism includes an elastic member, the elastic member is sandwiched between the first mounting member and the second mounting member, and the elastic member has a tendency to push against the first mounting member and the second mounting member away from each other.

In one possible implementation of the above suction tool, the telescopic mechanism includes at least one of a telescopic cylinder and a telescopic hydraulic cylinder.

In a second aspect, the present disclosure further provides a robot, which includes a robot body and the suction tool according to any one of the above, wherein the mounting component of the suction tool is connected with the robot body, and the robot body drives the suction tool to move.

The suction tool and the robot provided by the disclosure have the following advantages:

the suction tool provided by the disclosure comprises a mounting assembly, a connecting assembly, a sucker assembly and a telescopic mechanism. Through making coupling assembling be connected to the installation component with sucking disc subassembly in rotatable mode to make sucking disc subassembly can rotate for the installation component, thereby make sucking disc subassembly when with the article butt joint of surface unevenness such as gunny bag, paper package, the angle of adjustment sucking disc subassembly that can be self-adaptation makes sucking disc subassembly can be fine with article surface laminating and form negative pressure space, and then make sucking disc subassembly can be smooth and reliable absorb the article of surface unevenness such as gunny bag, paper package, be favorable to improving article and pick up and carry efficiency.

In addition, by disposing the telescoping mechanism between the mounting assembly and the suction cup assembly and disposing the telescoping mechanism so as to be capable of being positioned between the suction cup assembly and the mounting assembly by the elongate manner abutment clip and thereby causing the suction cup assembly to be stationary relative to the mounting assembly and capable of allowing the suction cup assembly to rotate relative to the mounting assembly by the retraction manner. On the one hand, when the telescopic mechanism is retracted, the sucker assembly can rotate relative to the mounting assembly, so that the angle of the sucker assembly can be adjusted in a self-adaptive manner, and the sucker assembly can be completely attached to and smoothly sucked by objects with uneven surfaces such as gunny bags and paper bags; and the sucker assembly is convenient to shake so as to realize the function of unpacking the articles. On the other hand, when telescopic machanism stretches out and the butt card is arranged in between sucking disc subassembly and the installation component, the sucking disc subassembly is static for the installation component to can guarantee the sucking disc subassembly and absorb stability behind the article, avoid article to rock, and then be favorable to guaranteeing the reliability that the robot carried article to remove.

The robot provided by the disclosure comprises a robot body and the suction tool, and the installation assembly of the suction tool is connected with the robot body, so that the robot body can drive the suction tool to move, and the suction tool can absorb articles, carry articles or shake articles to unpack.

In addition, since the robot provided by the present disclosure includes the suction tool, the suction tool has the beneficial effects, and the robot of the present disclosure also has the beneficial effects, and is not described herein.

In addition to the technical problems, technical features constituting the technical solutions, and beneficial effects caused by the technical features of the technical solutions described above in the embodiments of the present disclosure, other technical problems that can be solved by the suction tool and the robot provided in the present disclosure, other technical features included in the technical solutions, and beneficial effects caused by the technical features will be described in further detail in the detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the description of the prior art, it being obvious that the drawings in the following description are some embodiments of the present disclosure, and that other drawings may be obtained from these drawings without inventive effort to a person of ordinary skill in the art.

Fig. 1 is a schematic structural view of a suction tool provided in an embodiment of the present disclosure;

FIG. 2 is a schematic structural view of a connection assembly provided by an embodiment of the present disclosure;

FIG. 3 is a schematic structural view of a chuck assembly provided by an embodiment of the present disclosure;

fig. 4 is a schematic structural view of a mounting assembly provided by an embodiment of the present disclosure.

Reference numerals illustrate:

100-mounting an assembly; 110-a first mount; 120-a second mount; 130-a buffer mechanism; 140-a guide mechanism;

200-a connection assembly; 210-a first connector; 220-a second connector; 230-connecting shaft;

300-a suction cup assembly; 310-negative pressure device; 320-sucking disc; 330-supporting the plate;

400-telescoping mechanism.

Detailed Description

In the related art, as the suction cup for sucking the articles by the robot cannot adjust the angle in a self-adaptive manner, when the suction cup sucks the articles with uneven surfaces such as gunny bags and paper bags, the suction cup cannot be well attached to the surfaces of the articles and form a negative pressure space because the surfaces of the articles are not flat, so that the suction failure possibly occurs when the robot sucks and conveys the articles with uneven surfaces such as gunny bags and paper bags, or the suction is not firm, and the articles drop in the middle.

In order to solve the technical problems, embodiments of the present disclosure provide a suction tool and a robot including the suction tool. The suction tool comprises a mounting assembly, a connecting assembly, a sucker assembly and a telescopic mechanism. Through making coupling assembling be connected to the installation component with sucking disc subassembly in rotatable mode to make sucking disc subassembly can rotate for the installation component, thereby make sucking disc subassembly when with the article butt joint of surface unevenness such as gunny bag, paper package, the angle of adjustment sucking disc subassembly that can be self-adaptation makes sucking disc subassembly can be fine with article surface laminating and form negative pressure space, and then make sucking disc subassembly can be smooth and reliable absorb the article of surface unevenness such as gunny bag, paper package, be favorable to improving article and pick up and carry efficiency.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.

Fig. 1 is a schematic structural view of a suction tool provided in an embodiment of the present disclosure; FIG. 2 is a schematic structural view of a connection assembly provided by an embodiment of the present disclosure; FIG. 3 is a schematic structural view of a chuck assembly provided by an embodiment of the present disclosure; fig. 4 is a schematic structural view of a mounting assembly provided by an embodiment of the present disclosure.

Referring to fig. 1 to 4, the embodiment of the present disclosure provides a suction tool, which may be connected to an industrial robot, for example, and through which the industrial robot may perform various functions of picking up articles, carrying articles, unpacking articles, and the like.

The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by means of self power energy and control capability. Currently, industrial robots are widely used in various industrial fields such as electronics, logistics, chemical industry and the like.

The suction tool of the embodiment of the present disclosure includes a mounting assembly 100, a connection assembly 200, a suction cup assembly 300, and a telescopic mechanism 400.

The connection assembly 200 can connect the sucker assembly 300 to the installation assembly 100 in a rotatable manner, so that the sucker assembly 300 can rotate relative to the installation assembly 100, and therefore, when the sucker assembly 300 is in butt joint with objects with uneven surfaces such as gunny bags and paper bags, the angle of the sucker assembly 300 can be adjusted in a self-adaptive manner, the sucker assembly 300 can be well attached to the surfaces of the objects and form a negative pressure space, and further, the sucker assembly 300 can smoothly and reliably absorb the objects with uneven surfaces such as gunny bags and paper bags, and the efficiency of picking up and carrying the objects is improved.

The telescopic mechanism 400 is disposed between the mounting assembly 100 and the suction cup assembly 300, and the telescopic mechanism 400 may be disposed on a side of the mounting assembly 100 facing the suction cup assembly 300, or the telescopic mechanism 400 may be disposed on a side of the suction cup assembly 300 facing the mounting assembly 100, or the telescopic mechanism 400 may be disposed on other mounting members.

The telescopic mechanism 400 may be arranged to be capable of being held in abutment between the suction cup assembly 300 and the mounting assembly 100 by means of an extension and thus to urge the suction cup assembly 300 to rest relative to the mounting assembly 100 and to allow the suction cup assembly 300 to rotate relative to the mounting assembly 100 by means of a retraction. On the one hand, when the telescopic mechanism 400 is retracted, the sucker assembly 300 rotates relative to the mounting assembly 100, so that the angle of the sucker assembly 300 is conveniently and adaptively adjusted, and the sucker assembly can be completely attached to and smoothly sucked by objects with uneven surfaces such as gunny bags, paper bags and the like; but also facilitate the ability to shake the chuck assembly 300 to perform the function of unpacking the article.

On the other hand, when the telescopic mechanism 400 extends out and is abutted between the sucker assembly 300 and the mounting assembly 100, the sucker assembly 300 is static relative to the mounting assembly 100, so that stability of the sucker assembly 300 after absorbing articles can be guaranteed, articles are prevented from shaking, and further reliability of movement of the robot with the articles is guaranteed.

In one possible implementation, the connection assembly 200 may include a first connection member 210 and a second connection member 220, where a first end of the first connection member 210 is fixedly connected to the mounting assembly 100, and illustratively, the first end of the first connection member 210 may be fixedly connected to the mounting assembly 100 by a screw, or the first end of the first connection member 210 may be fixedly connected to the mounting assembly 100 by welding, clamping, integrally forming, or the like.

The first end of the second connecting member 220 is fixedly connected with the suction cup assembly 300, and illustratively, the first end of the second connecting member 220 and the suction cup assembly 300 may be fixedly connected by a screw, or the first end of the second connecting member 220 and the suction cup assembly 300 may be fixedly connected by welding, clamping, integrally forming, or the like.

The second end of the first link 210 is rotatably coupled to the second end of the second link 220 such that the suction cup assembly 300 rotates or swings relative to the mounting assembly 100 and is directed away from the mounting assembly 100 in the direction of the first link 210.

In some examples, the second end of the first connector 210 and the second end of the second connector 220 may be rotatably coupled by a coupling shaft 230, and the coupling shaft 230 may be directed perpendicular to the mounting assembly 100 in the direction of the first connector 210. Illustratively, the second end of the first connector 210 may be provided with a first mounting hole and the second end of the second connector 220 may be provided with a second mounting hole, the first and second mounting holes being aligned, the connection shaft 230 being threaded in the first and second mounting holes.

Alternatively, the connection shaft 230 may be fixedly connected to the first connection member 210, and the second connection member 220 is rotatably connected to the connection shaft 230. Alternatively, the connection shaft 230 may be fixedly connected to the second connection member 220, and the first connection member 210 is rotatably connected to the connection shaft 230. Alternatively, both the first connector 210 and the second connector 220 are rotatably coupled to the coupling shaft 230.

In other examples, the second end of the first connector 210 and the second end of the second connector 220 may be rotatably coupled by a ball head and a ball bowl. Illustratively, a second end of the first connector 210 may be provided with a ball head and a second end of the second connector 220 may be provided with a ball bowl; alternatively, the second end of the first connector 210 may be provided with a ball socket, and the second end of the second connector 220 may be provided with a ball head, which is received in the ball socket and may rotate therein.

In other possible implementations, the connection assembly 200 may be a spring, wire rope, or other flexible member that may also rotatably connect the suction cup assembly 300 to the mounting assembly 100. Of course, the connection assembly 200 may also include other components and modes, as long as the requirements of the present embodiment can be met, which will not be described herein.

It is understood that when the second end of the first connector 210 is rotatably connected to the second end of the second connector 220 by the connecting shaft 230, the second connector 220 can swing back and forth relative to the first connector 210 about the connecting shaft 230. Therefore, the sucking disc assembly 300 can swing back and forth relative to the mounting assembly 100 around the connecting shaft 230, and when the sucking disc assembly 300 is pressed down on an article with uneven surface from the upper direction of the article, the reaction force of the article to the sucking disc assembly 300 can enable the sucking disc assembly 300 to adaptively adjust the angle so as to be attached to the surface of the article as completely as possible, so that the article can be sucked smoothly.

In one possible implementation, the telescopic mechanism 400 includes at least two telescopic mechanisms 400, and the at least two telescopic mechanisms 400 are distributed on opposite sides of the connection assembly 200 along a direction perpendicular to the connection shaft 230, so that the at least two telescopic mechanisms 400 can abut against the suction cup 320 from opposite sides of the connection assembly 200 along a direction perpendicular to the connection shaft 230, so as to ensure that the suction cup 320 cannot swing around the connection shaft 230 any more, and further be beneficial to ensuring stability and reliability of the telescopic mechanism 400 to limit and fix the suction cup 320.

For example, the telescopic mechanism 400 may include two telescopic mechanisms 400, and the two telescopic mechanisms 400 may be disposed at opposite sides of the connection assembly 200 in a direction perpendicular to the connection shaft 230, respectively. Alternatively, three, four or more telescopic mechanisms 400 may be provided according to actual needs, and a plurality of telescopic mechanisms 400 may be provided on opposite sides of the connection assembly 200, respectively, according to actual needs.

Alternatively, the suction cup assembly 300 may comprise a suction device 310 and a suction cup 320, the suction device 310 being located between the connection assembly 200 and the suction cup 320, the suction device 310 being adapted to create a suction pressure on a side of the suction cup 320 facing away from the suction device 310.

In one possible implementation, the negative pressure device 310 may be directly connected to the connection assembly 200, and illustratively, the negative pressure device 310 may be fixedly connected to the first end of the second connector 220 of the connection assembly 200 by a screw, or the negative pressure device 310 may be fixedly connected to the first end of the second connector 220 of the connection assembly 200 by welding, clamping, integrally forming, or the like.

In another possible implementation, a support plate 330 may be provided between the negative pressure device 310 and the connection assembly 200. Illustratively, the support plate 330 is sandwiched between the negative pressure device 310 and the first end of the second connector 220 of the connection assembly 200, and the support plate 330 may extend toward two opposite sides of the connection assembly 200 along a direction perpendicular to the connection shaft 230, so that the telescopic mechanisms 400 located on two opposite sides of the connection assembly 200 may extend to abut against the support plate 330, so as to keep the suction cup assembly 300 stationary, thereby advantageously ensuring stability and reliability of the telescopic mechanisms 400 to limit and fix the suction cup assembly 300.

In one possible implementation manner, the suction cup 320 may be a sponge suction cup 320, and the main body of the sponge suction cup 320, that is, the connection part of the sponge suction cup 320 and the negative pressure device 310, is usually an aluminum profile, so that the structure is hard and is not easy to break; the sponge sucking disc 320 is far away from the part of the negative pressure device 310, namely, one end of the sponge sucking disc 320 sucking articles is set to be sponge, and the sponge can be better attached to the surface of articles with uneven surfaces such as gunny bags and paper bags, so that a negative pressure space is formed between the sponge sucking disc 320 and the articles, and the articles can be better sucked.

Illustratively, the side of the article that is sucked by the sponge suction cup 320 includes, but is not limited to, a circular, square, oval, or other shape. Alternatively, the sponge suction cup 320 may include one, two or more sponge suction cups 320, and two or more sponge suction cups 320 may be arranged at a side of the negative pressure device 310 facing away from the connection assembly 200 according to actual needs.

In another possible implementation, the suction cup 320 may also be a rubber suction cup 320, and the whole of the rubber suction cup 320 may be made of rubber; or, the main body of the rubber suction cup 320, that is, the connection part of the rubber suction cup 320 and the negative pressure device 310, may be made of metal materials such as aluminum profiles, and the part of the rubber suction cup 320 far away from the negative pressure device 310, that is, the end of the sponge suction cup 320 sucking the article is set to be rubber, so that the suction cup 320 and the article can be in soft contact, and damage to the article is avoided.

In other possible implementations, the suction cup 320 may further include other structures and materials, as long as the requirements of the present embodiment can be met, which are not described herein.

In one possible implementation, the negative pressure device 310 may be a suction fan. Illustratively, the suction fan may include a suction fan body having a suction inlet and a discharge outlet, the suction inlet of the suction fan body being in communication with a side of the suction cup 320 to which the article is to be sucked, and the discharge outlet of the suction fan body being in communication with the discharge outlet of the suction fan body, the discharge outlet being capable of directing a flow of the suction fan to a direction or area that does not affect the normal operation of the suction tool.

When the suction tool sucks the article, the suction fan works, and the suction opening sucks air to enable one side of the article sucked by the suction disc 320 to form a negative pressure space so as to suck the article; and meanwhile, the air outlet discharges the air flow sucked by the air suction inlet through the air exhaust pipe.

In another possible implementation manner, the negative pressure device 310 may also be a vacuum generator, where the vacuum generator may have a negative pressure port, an air inlet and an air outlet, where the negative pressure port of the vacuum generator is communicated with one side of the suction cup 320 where the article is sucked, and the air inlet and the air outlet may be disposed at positions of the vacuum generator that do not affect the normal operation of the suction tool according to actual needs.

In one possible implementation, the mounting assembly 100 includes a first mounting member 110, a second mounting member 120, and a buffer mechanism 130 disposed in spaced relation to the first mounting member 110 and the second mounting member 120, the buffer mechanism 130 being disposed between the first mounting member 110 and the second mounting member 120. By way of example, the cushioning mechanism 130 may be a spring cushioning mechanism 130, a hydraulic cushioning mechanism 130, or other types of cushioning mechanisms 130.

The connection assembly 200 and the telescopic mechanism 400 are disposed on a side of the second mount 120 facing away from the first mount 110. The first mount 110 is for connection with a robot, and the first mount 110 may be detachably connected with the robot by a fastener such as a screw. The buffer mechanism 130 can buffer the suction tool when the robot drives the suction tool to press against the object, so as to avoid damage to the suction tool and the robot caused by rigid collision.

In one possible implementation, the mounting assembly 100 may further include a guide mechanism 140, the guide mechanism 140 including a first guide portion and a second guide portion. The first guiding portion is disposed on one of the first mounting member 110 and the second mounting member 120, and the second guiding portion is disposed on the other of the first mounting member 110 and the second mounting member 120, and the first guiding portion and the second guiding portion are movably matched to guide when the first mounting member 110 and the second mounting member 120 approach or separate from each other.

The guide mechanism 140 may include one, two, three, four, or more, and more than two guide mechanisms 140 may be spaced between the first and second mounting

members

110 and 120.

In some examples, the first guide portion may include a guide hole, the second guide portion may include a guide bar, the guide hole may be provided on one of the first and second mounting

members

110 and 120, a first end of the guide bar may be fixedly connected to the other of the first and second mounting

members

110 and 120, and a second end of the guide bar may be movably penetrated in the guide hole. For example, the guide hole is disposed in the first mounting member 110, the first end of the guide rod is fixedly connected to the second mounting member 120, and the second end of the guide rod is movably disposed through the guide hole.

In other examples, the first guide portion and the second guide portion may be guide rails and guide grooves, or the first guide portion and the second guide portion may be guide posts and guide sleeves, so long as the requirements of the present embodiment can be met, and details thereof will not be repeated here.

In one possible implementation, the damping mechanism 130 may include an elastic member that may be sandwiched between the first mount 110 and the second mount 120, and that has a tendency to push the first mount 110 and the second mount 120 away from each other. Illustratively, the elastic member includes, but is not limited to, a spring sheet, an elastic rubber member, an elastic foam, or the like, and when the elastic member is a spring, the spring may be sleeved on the guide rod.

In one possible implementation, the telescoping mechanism 400 may be a telescoping cylinder that may include a cylinder body and a piston telescoping along the cylinder body, wherein the cylinder body of the telescoping cylinder may be coupled to the second mount 120 of the mounting assembly 100 and the piston of the telescoping cylinder may telescope toward the suction cup assembly 300.

In other possible implementations, the telescopic mechanism 400 may be a telescopic hydraulic cylinder, or the telescopic mechanism 400 may include a motor and a telescopic structure driven by the motor, so long as the requirement of the present embodiment can be met, which is not described herein.

The embodiment of the disclosure also provides a robot, which comprises a robot body and the suction tool, wherein the mounting assembly 100 of the suction tool is connected with the robot body, and the robot body drives the suction tool to move. Illustratively, the robot body includes a robotic arm, manipulator, or other structural robot body; the first mounting member 110 of the mounting assembly 100 of the suction tool may be detachably connected to the robot body by fasteners such as screws.

The robot provided by the disclosure comprises a robot body and the suction tool, and the installation component 100 of the suction tool is connected with the robot body, so that the robot body can drive the suction tool to move, and the suction tool can absorb articles, carry articles or shake articles to unpack.

The parallel, vertical, numerical and numerical ranges referred to in the embodiments of the present application are approximations, and may be subject to a range of errors, which may be considered negligible by those skilled in the art, due to the manufacturing process.

In the description of the embodiments of the present disclosure, it should be understood that the terms "top," "bottom," "upper," "lower," "left," "right," "vertical," "horizontal," and the like, if any, indicate or imply, however, the particular orientations and operations of the device or element being referred to, and are not intended to limit the embodiments of the present disclosure, unless indicated or implied by the fact that the orientation or positional relationship is based on that shown in the drawings, merely to facilitate description of the embodiments of the present disclosure and simplify the description.

In describing embodiments of the present disclosure, it will be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can lead the interior of two elements to be communicated or lead the two elements to be in interaction relationship. The specific meaning of the above terms in the embodiments of the present disclosure will be understood by those of ordinary skill in the art according to specific circumstances. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. The suction tool is characterized by comprising a mounting assembly, a connecting assembly, a sucker assembly and a telescopic mechanism;

the connecting assembly rotatably connects the suction cup assembly to the mounting assembly;

the telescopic mechanism is arranged between the mounting assembly and the sucker assembly;

the telescoping mechanism is configured to be capable of being held in an elongated manner in abutment between the suction cup assembly and the mounting assembly and thereby causing the suction cup assembly to be stationary relative to the mounting assembly and capable of being retracted to permit rotation of the suction cup assembly relative to the mounting assembly.

2. The suction tool of claim 1, wherein the connection assembly comprises a first connection member and a second connection member;

the first end of the first connecting piece is fixedly connected with the mounting assembly, the first end of the second connecting piece is fixedly connected with the sucker assembly, and the second end of the first connecting piece is rotationally connected with the second end of the second connecting piece, so that the sucker assembly rotates or swings relative to the mounting assembly and deviates from the direction that the mounting assembly points to the first connecting piece.

3. The suction tool of claim 2, wherein the second end of the first connector is rotatably coupled to the second end of the second connector by a coupling shaft, the coupling shaft being perpendicular to the mounting assembly and pointing in the direction of the first connector, the second connector swinging back and forth about the coupling shaft relative to the first connector.

4. A suction tool according to claim 3, wherein the telescopic mechanism comprises at least two, at least two of the telescopic mechanisms being distributed on opposite sides of the connection assembly in a direction perpendicular to the connection axis.

5. The suction tool of any one of claims 1-4, wherein the suction cup assembly comprises a suction cup and a negative pressure device, the negative pressure device being located between the connection assembly and the suction cup;

the negative pressure device is used for forming negative pressure on one surface of the sucker, which faces away from the negative pressure device.

6. The suction tool of any one of claims 1-4, wherein the mounting assembly comprises a first mounting member, a second mounting member, and a buffer mechanism disposed in spaced relation between the first and second mounting members;

the connecting component and the telescopic mechanism are arranged on one surface of the second mounting piece, which is away from the first mounting piece; the first mounting piece is used for being connected with a robot.

7. The suction tool of claim 6, wherein the mounting assembly further comprises a guide mechanism comprising a first guide portion and a second guide portion;

the first guide part is arranged on one of the first mounting piece and the second mounting piece, the second guide part is arranged on the other one of the first mounting piece and the second mounting piece, and the first guide part and the second guide part are movably matched so as to guide when the first mounting piece and the second mounting piece are close to or far away from each other.

8. The suction tool of claim 7, wherein the first guide portion comprises a guide hole and the second guide portion comprises a guide rod, the guide hole is formed in one of the first mounting member and the second mounting member, a first end of the guide rod is fixedly connected to the other of the first mounting member and the second mounting member, and a second end of the guide rod movably penetrates through the guide hole.

9. The suction tool of claim 6, wherein the cushioning mechanism comprises an elastic member sandwiched between the first and second mounting members, and wherein the elastic member has a tendency to push the first and second mounting members away from each other.

10. A robot comprising a robot body and a suction tool according to any one of claims 1-9, wherein the suction tool mounting assembly is connected to the robot body, and the robot body drives the suction tool to move.