CN111015715A - Mechanical arm sucker system and method suitable for postal express small pieces - Google Patents
Mechanical arm sucker system and method suitable for postal express small pieces Download PDFInfo
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- CN111015715A CN111015715A CN201911016620.3A CN201911016620A CN111015715A CN 111015715 A CN111015715 A CN 111015715A CN 201911016620 A CN201911016620 A CN 201911016620A CN 111015715 A CN111015715 A CN 111015715A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000001105 regulatory effect Effects 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 241000252254 Catostomidae Species 0.000 abstract description 3
- 239000005022 packaging material Substances 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a mechanical arm sucker system and a mechanical arm sucker method suitable for postal express small pieces, and relates to the technical field of express sorting; the suction cup device comprises a suction device and a suction cup device, wherein the suction cup device comprises a suction cup integrated board and a vacuum suction nozzle, the suction cup integrated board is provided with at least one air flow channel, one end of the air flow channel is connected with the suction device through an air pipe, and the other end of the air flow channel is closed or provided with a plug or the vacuum suction nozzle; the air flow channel is provided with an air hole, and the vacuum suction nozzle is arranged above the air hole so that the air flow channel is communicated with the vacuum suction nozzle. The mechanical arm sucker system suitable for small postal express parcels has excellent soft bag grabbing performance, can be provided with various types of vacuum suckers, is suitable for horizontal adjustment and uneven surface with small picking radius and carrying of various leaked objects, and is fully suitable for various mails and the characteristics of different outer packaging materials of the mails.
Description
Technical Field
The invention relates to the technical field of express sorting, in particular to a mechanical arm sucker system and a mechanical arm sucker method suitable for small postal express items.
Background
At present, automatic grabbing devices such as robotic arms have been adopted more during express mail letter sorting, to current grasping system, the majority is known to the material size weight of express mail, and the kind is single relatively, this kind of express mail is not high to grasping system's requirement, nevertheless there is not unified standard's problem in mail size, appearance, packing material etc. in the postal service, and mail size weight span is big, the characteristics of a great variety, it is big not be suitable for the mail kind span that faces when using in the postal service on the market, the grasping system of the compatibility problem of a great variety of packing, be applicable to the postal express delivery smallclothes especially.
Disclosure of Invention
The invention aims to provide a mechanical arm sucker system and a mechanical arm sucker method suitable for postal express small pieces, so that the problems in the prior art are solved.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the mechanical arm sucker system suitable for postal express small pieces comprises an air exhaust device and a sucker device, wherein the sucker device comprises a sucker integrated board and a vacuum suction nozzle, the sucker integrated board is provided with at least one air flow channel, one end of the air flow channel is connected with the air exhaust device through an air pipe, and the other end of the air flow channel is closed or provided with a plug or the vacuum suction nozzle;
the air flow channel is provided with an air hole, and the vacuum suction nozzle is arranged above the air hole so that the air flow channel is communicated with the vacuum suction nozzle.
Preferably, the suction nozzle is a ripple type suction nozzle, a vacuum switch is arranged on the suction nozzle, and when the vacuum degree generated in actual work reaches the specified requirement, the control circuit is automatically switched on and off to send out an electric signal to instruct the vacuum adsorption mechanism to normally act.
The standards of the automatic on-off control circuit at this time are: when the vacuum generated by the vacuum generator is not enough to support the suction cup to work, the check valve on the vacuum suction nozzle is required to be opened, compressed air enters the vacuum generator, then the vacuum generator generates vacuum degree, and the suction cup can work normally. The suction process is the same for both large and small pieces, but if some suction nozzles in the suction cup are not in contact with the express pieces, the check valve closes the vacuum circuit, and the vacuum degree of other parts of the suction cup system is kept, so that the suction cup can continue to work.
Preferably, the corrugated suction nozzles are mutually ventilated, the corrugated suction nozzles are divided into a common suction nozzle and a suction nozzle with a check valve, the common suction nozzle is positioned in the center of the suction disc integrated plate, the suction nozzle with the check valve is positioned at the edge of the integrated plate, and all the suction nozzles form a vacuum suction disc.
Preferably, the air extracting device comprises a pressure regulating valve, an electromagnetic valve, a vacuum generator and an air compressor, the pressure regulating valve, the electromagnetic valve and the vacuum generator are sequentially connected, and the vacuum generator is connected with the sucker device.
Preferably, the robot arm chuck system further includes a gas distribution block installed between the vacuum generator and the chuck device, the gas distribution block introducing and distributing a vacuum degree generated in the vacuum generator to the chuck device.
Preferably, one end of the gas distribution block is connected with the vacuum generator through a pagoda joint, and the other end of the gas distribution block is sealed or provided with a plug;
the joint of the air distribution block and the sucker device is connected through a quick connector.
Preferably, the number of the air distribution holes of the air distribution block is the same as that of the air flow channels of the sucker device, and the air distribution holes are connected in a one-to-one manner.
Preferably, the pressure regulating valve comprises a filter and a pressure regulating filter, the filter and the pressure regulating filter are directly connected through double external threads, and the filter is arranged between the air compressor and the pressure regulating filter.
Preferably, the air compressor, the pressure regulating valve, the electromagnetic valve and the vacuum generator are connected through air pipes and quick connectors.
Another object of the present invention is to provide a method for grasping a small courier with a robotic arm suction cup system, comprising the steps of:
s1, when the sucker system is electrified, the electromagnetic valve is opened, the valve is adjusted for driving, and the air compressor runs;
s2, transmitting the compressed air in the air compressor to a vacuum generator, wherein the vacuum generator and the gas distribution block are connected to generate vacuum degree;
s3, introducing and distributing the vacuum degree to the sucker integration plate through the gas distribution block so as to transfer the vacuum degree to the vacuum sucker, wherein the vacuum sucker can grab the small express;
and S4, after the grabbing action is finished, the electromagnetic valve is powered off, and the sucker system stops running at the moment.
The invention has the beneficial effects that:
the mechanical arm sucker system suitable for small postal express parcels has excellent soft bag grabbing performance, can be provided with various types of vacuum suckers, is suitable for horizontal adjustment and uneven surface with small picking radius and carrying of various leaked objects, and is fully suitable for various mails and the characteristics of different outer packaging materials of the mails.
Drawings
FIG. 1 is a diagram showing a connection structure of a robot arm suction cup system suitable for postal delivery of small postal items in example 1;
FIG. 2 is a side view of the suction cup device in embodiment 1;
FIG. 3 is a side view of the suction cup device in embodiment 1;
FIG. 4 is a front sectional view of the suction cup manifold in example 1;
FIG. 5 is a side view of the suction cup integrated plate in embodiment 1;
FIG. 6 is a sectional view of the suction cup manifold in example 1;
FIG. 7 is a front view of the suction cup manifold in example 1;
FIG. 8 is a plan view of the suction cup manifold in example 1;
FIG. 9 is a top sectional view of the suction cup manifold in example 1;
FIG. 10 is a main sectional view of a gas-distributing block in embodiment 1;
FIG. 11 is a bottom sectional view of the air distributor in example 1;
FIG. 12 is a cross-sectional view A-A of FIG. 11;
FIG. 13 is a side view of the vacuum generator;
the air compressor comprises an air compressor 1, a quick connector 2, an air pipe 1, an air filter 4, a pressure regulating filter 5, an air pipe 2, an electromagnetic valve 7, an air pipe 3, a vacuum generator 9, an air pipe 4, a pagoda joint 11, an air distributing block 12, a quick connector 1, an air pipe 5, an air pipe 15, an inner hexagonal cylinder head screw 1, a sucker integrated plate 19, a vacuum suction nozzle 20, a vacuum switch 21, a vacuum suction nozzle 22, a plug 1, a plug 2, a quick connector 2, a double external thread through 26 and a quick connector 3 27, wherein the air pipe 3 is an air pipe 3, the air pipe 4 is a vacuum generator 10, the air pipe 4 is a pagoda joint 11, the air distributing block 12, the quick connector 1, the air pipe 14, the.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The embodiment provides a mechanical arm sucker system suitable for postal express small pieces, which comprises an air extracting device and a sucker device, wherein as shown in fig. 1, the air extracting device comprises a pressure regulating valve, an electromagnetic valve, a vacuum generator, an air distributing block and an air compressor, the pressure regulating valve, the electromagnetic valve, the vacuum generator and the air distributing block are sequentially connected, and the vacuum generator is connected with the sucker device; the gas distribution block introduces and distributes the vacuum degree generated in the vacuum generator to the suction cup device.
The sucking disc device comprises a sucking disc integrated board and a vacuum suction nozzle, the sucking disc integrated board is provided with at least one airflow channel, one end of the airflow channel is connected with the air extracting device through an air pipe, and the other end of the airflow channel is closed or provided with a plug or the vacuum suction nozzle;
the air flow channel is provided with an air hole, and the vacuum suction nozzle is arranged above the air hole so that the air flow channel is communicated with the vacuum suction nozzle.
In this embodiment, the air distribution block divides the air path 1 into 3, the number of the air flow channels is 3, and each air flow channel is provided with three vacuum chucks, and the specific positions are shown in fig. 4. The suction nozzle on the vacuum suction disc adopts a ripple type suction nozzle, and a vacuum switch is arranged on the suction nozzle.
Every the corrugated suction nozzle ventilates each other, the corrugated suction nozzle divide into ordinary suction nozzle and the suction nozzle that has the check valve, ordinary suction nozzle is located the vacuum chuck in sucking disc integrated board center, the suction nozzle that has the check valve is located on the integrated board edge, and except that suction nozzle in this embodiment in the middle of being the, other 8 suction nozzles all have the check valve, and this 9 ripple formula suction nozzles constitute a vacuum chuck, and the benefit of design like this lies in, and when the mail size is less, marginal part suction nozzle does not contact with the mail and also can not destroy the vacuum that has formed, improves the adaptation degree of sucking disc to mail size.
Meanwhile, due to the adoption of the corrugated suction nozzle, the whole vacuum suction disc has strong adaptability to mails with concave or convex surfaces, has good height difference compensation, can move at high speed by the mechanical arm, has excellent stability, can bear transverse force and transverse acceleration well, can move mails gently, and has good sealing performance and surface fitting degree.
According to the vacuum sucker provided by the invention, due to the special suction nozzle structure, the control of the whole sucker can be realized only by adopting one control switch in the using process, and when the vacuum degree generated in the actual work of the vacuum switch arranged on each suction nozzle reaches the specified requirement, the control circuit is automatically switched on and switched off, an electric signal is sent out, and the normal action of the vacuum sucker is instructed. And the suction nozzle can be changed at any time in the use process, and compared with a sucker system independently controlled by a plurality of electromagnetic valves, the sucker has lower economic cost, and meanwhile, the sucker is simple and convenient to install, and the suction nozzle is convenient to change.
The suction cup means in this embodiment may be fixed by bolts or screws.
In the embodiment, one end of the gas distribution block is connected with the vacuum generator through a pagoda joint, and the other end of the gas distribution block is sealed or provided with a plug; the joint of the air distribution block and the sucker device is connected through a quick connector.
The number of the air distribution holes of the air distribution block is the same as that of the air flow channels of the sucker device, and the air distribution holes are connected in a one-to-one manner, so that the number of the air distribution holes of the air distribution block in the embodiment is 3.
The pressure regulating valve in the embodiment comprises a filter and a pressure regulating filter, wherein the filter and the pressure regulating filter are directly connected through double external threads, and the filter is arranged between an air compressor and the pressure regulating filter.
The air compressor, the pressure regulating valve, the electromagnetic valve and the vacuum generator are connected by adopting an air pipe and a quick connector.
Example 2
The embodiment provides a method for grabbing small parcels and expressways by using a mechanical arm sucker system, which comprises the following steps:
s1, when the sucker system is electrified, the electromagnetic valve is opened, the valve is adjusted for driving, and the air compressor runs;
s2, transmitting the compressed air in the air compressor to a vacuum generator, wherein the vacuum generator and the gas distribution block are connected to generate vacuum degree;
s3, introducing and distributing the vacuum degree to the sucker integration plate through the air distributing block so as to transfer the vacuum degree to the vacuum sucker, wherein the vacuum sucker can grab express;
and S4, after the grabbing action is finished, the electromagnetic valve is powered off, and the sucker system stops running at the moment.
The processes of grabbing small pieces and common express pieces are similar, the suction cups are moved to the surfaces of objects, then the electromagnetic valves are opened, the vacuum generators work to generate vacuum degrees and grab mails, and different processes include that if some suction nozzles in the suction cups are not in contact with the workpieces, the check valves close vacuum loops, the vacuum degrees of other parts of a suction cup system are kept, and the suction cups can continue to work.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained:
the mechanical arm sucker system suitable for small postal express parcels has excellent soft bag grabbing performance, can be provided with various types of vacuum suckers, is suitable for horizontal adjustment and uneven surface with small picking radius and carrying of various leaked objects, and is fully suitable for various mails and the characteristics of different outer packaging materials of the mails.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (10)
1. The mechanical arm sucker system suitable for small postal express items is characterized by comprising an air exhaust device and a sucker device, wherein the sucker device comprises a sucker integrated board and a vacuum suction nozzle, the sucker integrated board is provided with at least one air flow channel, one end of the air flow channel is connected with the air exhaust device through an air pipe, and the other end of the air flow channel is closed or provided with a plug or the vacuum suction nozzle;
the air flow channel is provided with an air hole, and the vacuum suction nozzle is arranged above the air hole so that the air flow channel is communicated with the vacuum suction nozzle.
2. The robotic arm suction cup system for postal parcels according to claim 1 wherein the vacuum nozzle is a ripple type nozzle and a vacuum switch is disposed on the nozzle.
3. The robotic arm suction cup system for postal parcels according to claim 2 wherein said bellows-type suction nozzles are vented to form a vacuum cup, said bellows-type suction nozzles are divided into a general suction nozzle and a suction nozzle with a check valve, said general suction nozzle is located on the vacuum cup at the center of said suction cup manifold, said suction nozzle with a check valve is located on the vacuum cup at the edge of said manifold.
4. The robotic arm suction cup system for postal parcels according to claim 1 wherein said air extractor comprises a pressure regulating valve, a solenoid valve, a vacuum generator and an air compressor, said pressure regulating valve, said solenoid valve and said vacuum generator being connected in series, and said vacuum generator being connected to said suction cup device.
5. The robotic arm gripper system for postal parcels according to claim 4 further comprising a gas distributor block mounted between the vacuum generator and the gripper device, the gas distributor block introducing and distributing a vacuum generated in the vacuum generator to the gripper device.
6. The robotic arm suction cup system for postal parcels according to claim 5 wherein one end of the gas distribution block is connected to the vacuum generator through a pagoda joint and the other end of the gas distribution block is closed or fitted with a plug;
the joint of the air distribution block and the sucker device is connected through a quick connector.
7. The robotic arm suction cup system for postal courier packages according to claim 6 wherein the gas distribution holes of the gas distribution block are as many as the gas flow channels of the suction cup device and are connected one-to-one.
8. The robotic arm suction cup system for postal courier packages according to claim 4 wherein the pressure regulating valve includes a filter and a pressure regulating filter, the filter and the pressure regulating filter being in direct connection via double external threads, and the filter being disposed between the air compressor and the pressure regulating filter.
9. The robotic arm suction cup system for postal parcels according to claim 8 wherein the air compressor, the pressure regulating valve, the solenoid valve and the vacuum generator are connected by air tubes and quick connect couplings.
10. A method for grasping a small item of courier using the robotic arm suction cup system of any of claims 1-9, comprising the steps of:
s1, when the sucker system is electrified, the electromagnetic valve is opened, the valve is adjusted for driving, and the air compressor runs;
s2, transmitting the compressed air in the air compressor to a vacuum generator, wherein the vacuum generator and the gas distribution block are connected to generate vacuum degree;
s3, introducing and distributing the vacuum degree to the sucker integration plate through the gas distribution block so as to transfer the vacuum degree to the vacuum sucker, wherein the vacuum sucker can grab the small express;
and S4, after the grabbing action is finished, the electromagnetic valve is powered off, and the sucker system stops running at the moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911016620.3A CN111015715A (en) | 2019-10-24 | 2019-10-24 | Mechanical arm sucker system and method suitable for postal express small pieces |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911016620.3A CN111015715A (en) | 2019-10-24 | 2019-10-24 | Mechanical arm sucker system and method suitable for postal express small pieces |
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| CN111015715A true CN111015715A (en) | 2020-04-17 |
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| CN201911016620.3A Pending CN111015715A (en) | 2019-10-24 | 2019-10-24 | Mechanical arm sucker system and method suitable for postal express small pieces |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515952A (en) * | 2020-04-29 | 2020-08-11 | 淮安市博泽科技有限公司 | Robot quick-change disc control system applied to express taking |
| CN114407393A (en) * | 2022-02-23 | 2022-04-29 | 宜兴市宇龙塑胶包装制品有限公司 | Preparation method of anti-ultraviolet card protection film |
| CN115504240A (en) * | 2022-10-20 | 2022-12-23 | 大连理工大学 | Container carton packed goods unloading tail end grabbing mechanism and method |
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| CN210819609U (en) * | 2019-10-24 | 2020-06-23 | 邮政科学研究规划院 | Arm sucking disc system suitable for postal express delivery smallclothes |
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2019
- 2019-10-24 CN CN201911016620.3A patent/CN111015715A/en active Pending
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| US20160243590A1 (en) * | 2014-12-24 | 2016-08-25 | Solystic | Installation for Separating and Singulating Non-Uniform Postal Articles |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515952A (en) * | 2020-04-29 | 2020-08-11 | 淮安市博泽科技有限公司 | Robot quick-change disc control system applied to express taking |
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| CN115504240A (en) * | 2022-10-20 | 2022-12-23 | 大连理工大学 | Container carton packed goods unloading tail end grabbing mechanism and method |
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