CN206811992U - Terminal-collecting machine and Prospect of Robot Sorting System - Google Patents
Terminal-collecting machine and Prospect of Robot Sorting System Download PDFInfo
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- CN206811992U CN206811992U CN201720754041.9U CN201720754041U CN206811992U CN 206811992 U CN206811992 U CN 206811992U CN 201720754041 U CN201720754041 U CN 201720754041U CN 206811992 U CN206811992 U CN 206811992U
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Abstract
This application discloses terminal-collecting machine and Prospect of Robot Sorting System.One embodiment of above-mentioned terminal-collecting machine includes：The vacuum cup of array arrangement, wherein, vacuum cup includes the first sucker and the second sucker, and the lip of the first sucker has different hardness from the lip of the second sucker；Connector, it is connected with the top of vacuum cup, and for connecting tracheae.The embodiment can make terminal-collecting machine pick up different profiles, the article of Different Package material, so as to be advantageous to expand the scope of application of terminal-collecting machine.
Description
Technical field
The application is related to warehouse logisticses technical field, and in particular to goods chooses technology, more particularly to terminal-collecting machine and selection
Robot.
Background technology
At present, in all kinds of Prospect of Robot Sorting System, parallel robot is largely used in automated warehousing industry.Especially
When carrying out small article sorting, because the parallel robot speed of service is fast, so substantially increasing production efficiency.
Under normal circumstances, the type of goods being sorted is various, thus the outer packing of article in shape, material etc. not yet
It is identical to the greatest extent, thus the requirement to the terminal-collecting machine of parallel robot is also different.Therefore, it is necessary to a kind of terminal-collecting machine of flexible, from
And the article of sorting Different Package can be realized.
Utility model content
In view of drawbacks described above of the prior art, this application provides a kind of improved terminal-collecting machine and Prospect of Robot Sorting System, comes
Solves the technical problem that background section above is mentioned.
In a first aspect, the embodiment of the present application provides a kind of terminal-collecting machine, the terminal-collecting machine includes：The vacuum of array arrangement is inhaled
Disk, wherein, vacuum cup includes the first sucker and the second sucker, and the lip of the first sucker has different from the lip of the second sucker
Hardness；Connector, it is connected with the top of vacuum cup, and for connecting tracheae.
In certain embodiments, the hardness of the lip of the first sucker is less than the hardness of the lip of the second sucker, and second inhales
Disk ring is set around the first sucker.
In certain embodiments, vacuum cup includes suction cup main body and lip, and suction cup main body and lip are detachably connected.
In certain embodiments, connector includes joint and connecting rod；Joint at the top of vacuum cup with being fixedly connected, connecting rod
One end be fixedly connected with joint, and the other end of connecting rod is connected with tracheae.
In certain embodiments, connector includes joint and connecting rod；Joint at the top of vacuum cup with being fixedly connected, connecting rod
One end be flexibly connected with joint, and the other end of connecting rod is connected with tracheae.
In certain embodiments, joint is internally provided with check-valves, for preventing the unadsorbed vacuum cup to article
Suck extraneous air.
In certain embodiments, terminal-collecting machine includes first support, and first support is connected with connecting rod, and can back and forth be moved along connecting rod
It is dynamic；Elastomeric element is arranged with connecting rod, and between vacuum cup and first support.
In certain embodiments, connecting rod is connected with first support by guiding parts, and in the guide effect of guiding parts
Under, first support moves back and forth along connecting rod, wherein, guiding parts includes oil-free bushing.
In certain embodiments, terminal-collecting machine includes increasing bar and second support；The one end and first support for increasing bar are fixed
Connection, and the other end for increasing bar is fixedly connected with second support；Quick connector, quick connector and gas are provided with second support
Pipe connects.
Second aspect, the embodiment of the present application provide a kind of Prospect of Robot Sorting System, and the Prospect of Robot Sorting System includes such as first aspect
In terminal-collecting machine described by any implementation.
The terminal-collecting machine and Prospect of Robot Sorting System that the embodiment of the present application provides, can be with by setting the vacuum cup of array arrangement
Various sizes of article is sorted.Meanwhile because the first sucker and the second sucker in vacuum cup have different hardness
Lip, it is possible to the article of Different Package material is sorted.The scope of application of terminal-collecting machine so can be both improved, from
And reduce because of the different frequencies for changing terminal-collecting machine of article packaging, production efficiency can be improved again.In addition, vacuum is made by connector
Sucker is connected with tracheae, can be picked up article by vacuumizing mode, be significantly reduced the destruction to article.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is the structural representation of the one embodiment for the terminal-collecting machine that the application provides；
Fig. 2 is the face upwarding assumption diagram of one embodiment of the terminal-collecting machine shown in Fig. 1；
Fig. 3 is the face upwarding assumption diagram of another embodiment of the terminal-collecting machine shown in Fig. 1；
Fig. 4 is the structural representation of another embodiment of the terminal-collecting machine that the application provides.
Embodiment
The principle and feature of the application are described in further detail with reference to the accompanying drawings and examples.It is appreciated that
It is that specific embodiment described herein is used only for explaining relevant utility model, rather than the restriction to the utility model.In addition
It should also be noted that, for the ease of describing, the part related to utility model is illustrate only in accompanying drawing.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the application in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Due in the prior art, being typically that terminal-collecting machine is classified according to the packaging for the article being chosen, thereby using
Different types of terminal-collecting machine corresponds to the article of packaging to sort.So before sorting, generally require first according to packaging by article
Classification, this can influence production efficiency.Then point article of Different Package type being delivered to where different types of terminal-collecting machine
Pick line.That is, a kind of corresponding sorting line of the article of packaging type, can so increase equipment and the input in soil, enter
And increase production cost.Or the article timesharing of Different Package type is delivered on same sorting line.But sorting different bags
, it is necessary to which manual or automaticization equipment changes corresponding terminal-collecting machine when filling the article of type, it so can further influence production and imitate
Rate.Therefore this application provides a kind of terminal-collecting machine, Different Package size, package shape and the article for packing material are adapted to.
Fig. 1 specifically is may refer to, the structural representation of one embodiment of the terminal-collecting machine provided it illustrates the application.
In the present embodiment, terminal-collecting machine can include the vacuum cup 10 and connector 11 of array arrangement.Vacuum cup 10
The first sucker and the second sucker can be included.Wherein, the lip of the first sucker has different hardness from the lip of the second sucker.
Terminal-collecting machine can be so set to be applied to Different Package size, package shape and the article for packing material.Meanwhile connector 11 can be with
It is connected with the top of vacuum cup 10, and is connected with tracheae., can be to vacuum cup 10 so when terminal-collecting machine chooses article
Negative pressure is provided, so that vacuum cup 10 adsorbs article.Specifically, shape between vacuum cup 10 and article is extracted by tracheae
Into space in air, the space is in vacuum state, and then in the presence of external atmosphere pressure, article is tightly attached
On vacuum cup 10.The situation that article caused by sort process so can be reduced damages occurs, especially breakables, such as
Potato chips, biscuit etc..Here top refers to part relative with the bottom for adsorbent article in vacuum cup.Need what is illustrated
It is the quantity of vacuum cup, the quantity of connector in Fig. 1, and the corresponding relation of vacuum cup and connector is only to illustrate
Property.As shown in figure 1, each vacuum cup 10 can be connected by a connector 11 with tracheae.Or terminal-collecting machine can include
Multiple connectors, and each connector is connected with the top of at least one vacuum cup.
In the present embodiment, by various methods the lip hardness of the first sucker and the lip of the second sucker can be made hard
Degree is different.Such as first sucker lip and the lip of the second sucker be made up respectively of unlike material.As an example, the first sucker
The material of lip be rubber, the material of the lip of the second sucker is silica gel.Lip for example to the first sucker and/or second again
The lip of sucker carries out special working process.As an example, the lip of the first sucker is heated to certain temperature, so as to change
The internal organizational structure of material, and then change its hardness.In addition, the array arrangement mode and array configuration of vacuum cup are in this Shen
Please in be not intended to limit.Fig. 2 and Fig. 3 specifically are may refer to, which respectively show the two of terminal-collecting machine kind overlooking structure figure.
As shown in Fig. 2 vacuum cup can include the first sucker 101 and the second sucker 102.First sucker 101 and second
Sucker 102 extends in a first direction setting, and the first sucker 101 and the second sucker 102 are arranged alternately in a second direction.Its
In, first direction and second direction can be orthogonal both directions.
Now, the lip A of the first sucker 101 hardness can (but not limiting) higher than the second sucker 102 lip B it is hard
Degree.So the first sucker 101 and the second sucker 102 can be utilized to choose the article of Different Package material respectively.Such as sorting
During article (such as packed preserved plum) of the flexible packages such as plastics, because plastics packed article easily becomes during terminal-collecting machine adsorbs
Shape, it is possible to sorted using the second sucker 102 of lip softer (i.e. hardness is relatively low).Such second sucker 102
Lip can adapt to a certain extent packaging deformation, reduce the generation of leakage situation, so can reduce absorption failure
Probability.And for the first harder sucker 101 of lip, then it can be used for the article for sorting the rigid packages such as carton.Because
The surfacing of packed in cases, and be unlikely to deform during terminal-collecting machine adsorbs.Simultaneously harder lip carries more resistant to tearing
Ability is higher.
With continued reference to Fig. 3, vacuum cup can equally include the first sucker 101 and the second sucker 102.And first sucker
The hardness of 101 lip can be less than the hardness of the lip of the second sucker 102.Now, in order to preferably sort Different Package
Article, influencing each other between the first sucker 101 and the second sucker 102 is reduced, the second harder sucker 102 of lip can be surround
The first softer sucker 101 of lip is set.As shown in figure 3, the second sucker 102 is located at the first row and the 4th of vacuum cup array
OK, i.e., positioned at the fringe region of vacuum cup array.First sucker 101 is then located at the second row and the 3rd of vacuum cup array
OK, i.e., positioned at the intermediate region of vacuum cup array.So when adsorbing the article of flexible package, the first sucker 101 can adsorb
Intermediate position, make article stability under loading in sort process, it is difficult for drop-off.When adsorbing the article of rigid package, second inhales
Disk 102 can adsorb the marginal position of its both sides, make the article uniform force.
In the terminal-collecting machine of the various embodiments described above, vacuum cup can generally include suction cup main body and lip.Suction cup main body
Can be integrally formed or knockdown with lip.As an example, suction cup main body and lip pass through the modes such as screw
Realization is detachably connected.So when aging or damage occurs in lip, lip can be individually replaced, lower maintenance into
This.In addition, connector can include various structures, to realize the connection of vacuum cup and tracheae, Fig. 4 is specifically may refer to,
The structural representation of another embodiment of the terminal-collecting machine provided it illustrates the application.
In the present embodiment, terminal-collecting machine includes multiple connectors 11.And each vacuum cup 10 passes through a connector
11 are connected with tracheae 12.As shown in figure 4, connector 11 includes joint 111 and connecting rod 112.The top of joint 111 and vacuum cup 10
Portion is fixedly connected.One end of connecting rod 112 is fixedly connected with joint 111, and the other end of connecting rod 112 is connected with tracheae 12.As
Example, connecting rod 112 can be connected by fast plug 18 with tracheae 12, consequently facilitating dismounting maintenance.Meanwhile in order to save production
Cost, multiple vacuum cups 10 can share a vacuum generator.That is, the tracheae being connected with multiple vacuum cups 10
12 can be interconnected.So when vacuum generator is run, the gas in multiple vacuum cups can be extracted simultaneously.
Further, since the size of different articles is different, so in terminal-collecting machine adsorbent article, some vacuum cups can be inhaled
Article is attached to, and some vacuum cups can not then be adsorbed onto article.In order to avoid the unadsorbed vacuum cup suction to article is outer
Portion's air, and influence to be adsorbed onto the vacuum of the vacuum cup of article, cause overall gas leakage.The inside of joint 111 can be set
There is check-valves (not shown).Check-valves can be used for preventing the unadsorbed vacuum cup to article from sucking extraneous air.Make
For example, check-valves can include a check valve and the choke valve in parallel with check valve.When vacuum cup is not adsorbed onto thing
During product, check valve can block the gas circuit where it.Now, extraneous air can only pass through from the gas circuit where choke valve.And
The latus rectum of choke valve can be transferred to very little, so only can suck a small amount of extraneous gas, enter and be adsorbed onto article without destroying
Vacuum cup normal operation.It is understood that the concrete structure of check-valves is not intended to limit in the application.
As can be seen from Figure 4, terminal-collecting machine can also include first support 13.First support 13 is connected with connecting rod 112, and can be along even
Bar 112 moves back and forth.Simultaneously elastomeric element 14 (such as spring) is arranged with connecting rod 112.Elastomeric element 14 is located at vacuum cup 10
Between first support 13.So in terminal-collecting machine adsorbent article, first support 13 can be along connecting rod 112 downwards (i.e. close to thing
The direction of product) it is mobile, while elastomeric element 14 is compressed, and so as to alleviate the active force between terminal-collecting machine and article, is reduced to thing
The damage of product.
In the present embodiment, the moving back and forth along connecting rod 112 of first support 13 can be realized by various structures.Such as figure
Shown in 4, connecting rod 112 is connected with first support 13 by guiding parts 15.Under the guide effect of guiding parts 15, first support
13 can move back and forth along connecting rod 112.Wherein, guiding parts 15 can include oil-free bushing or sliding block etc..Herein, oil-free serves as a contrast
Set need not use oil lubrication, therefore can avoid grunge pollution article, while coefficient of friction is small advantageously reduces caused by friction
Resistance and noise.For example first support is directly set on connecting rod again, is slidably connected by being interference fitted realization.Need exist for pair
Both contact surfaces are handled, to reduce the roughness of contact surface.
Further, the terminal-collecting machine in the present embodiment can also include increasing bar and second support.As shown in figure 4, increase
One end of bar 16 is fixedly connected with first support 13, and the other end for increasing bar 16 is fixedly connected with second support 17.Herein,
The length for increasing bar 16 can be fixed, or it is adjustable within the specific limits to increase the length of bar 16.So pass through regulation
The whole height of terminal-collecting machine can be adjusted by increasing the length of bar, so as to be advantageous to expand the scope of application of terminal-collecting machine.And second
Quick connector 18 can be provided with support 17.Quick connector 18 is connected with tracheae 12.It is understood that patched soon in Fig. 4
The quantity of head, the corresponding relation of fast plug and tracheae are only schematical.When all vacuum cups share a vacuum
During generator, the tracheae that is connected with these vacuum cups can by the same or multiple fast plug in second support with it is true
Empty generator connection.
The present embodiment some alternatively in implementation, can be to be flexibly connected between connecting rod and joint.Namely
Say, joint at the top of vacuum cup with being fixedly connected.And one end of connecting rod is flexibly connected with joint, and the other end and gas of connecting rod
Pipe connects.So when the surface of package of article is not flat surfaces, vacuum cup can be relative to link motion, to adapt to thing
The surface of package of product, so as to be advantageous to improve absorption success rate.Here the specific implementation of flexible connection is in this application
It is not intended to limit.Such as connecting tube can be provided between joint and connecting rod.The material of connecting tube can be elastomeric material, so connect
Adapter can be bent within the specific limits.
The application also proposed a kind of Prospect of Robot Sorting System.Pick up at the end that the Prospect of Robot Sorting System includes described by the various embodiments described above
Device.The Prospect of Robot Sorting System can be various types of Prospect of Robot Sorting System.Because the terminal-collecting machine of the Prospect of Robot Sorting System is arranged including array
The vacuum cup of cloth, it is possible to sort the article of Different Package size.The first sucker in vacuum cup and second is inhaled simultaneously
Disk has the lip of different hardness, can sort the article of Different Package material.The suitable of Prospect of Robot Sorting System so can be both improved
With scope, so as to reduce because of the different frequencies for changing terminal-collecting machine of article packaging, production efficiency can be improved again.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that utility model scope involved in the application, however it is not limited to what the particular combination of above-mentioned technical characteristic formed
Technical scheme, while should also cover in the case where not departing from utility model design, by above-mentioned technical characteristic or its be equal
Other technical schemes that feature is combined and formed.Such as features described above has with (but not limited to) disclosed herein
The technical scheme that the technical characteristic for having similar functions is replaced mutually and formed.
Claims (10)
1. a kind of terminal-collecting machine, it is characterised in that the terminal-collecting machine includes：
The vacuum cup of array arrangement, wherein, the vacuum cup includes the first sucker and the second sucker, first sucker
Lip has different hardness from the lip of second sucker；
Connector, it is connected with the top of the vacuum cup, and for connecting tracheae.
2. terminal-collecting machine according to claim 1, it is characterised in that the hardness of the lip of first sucker is less than described the
The hardness of the lip of two suckers, and second sucker is set around first sucker.
3. terminal-collecting machine according to claim 1, it is characterised in that the vacuum cup includes suction cup main body and lip, institute
State suction cup main body and the lip is detachably connected.
4. terminal-collecting machine according to claim 1, it is characterised in that the connector includes joint and connecting rod；
With being fixedly connected at the top of the vacuum cup, one end of the connecting rod is fixedly connected the joint with the joint, and
The other end of the connecting rod is connected with the tracheae.
5. terminal-collecting machine according to claim 1, it is characterised in that the connector includes joint and connecting rod；
With being fixedly connected at the top of the vacuum cup, one end of the connecting rod is flexibly connected the joint with the joint, and
The other end of the connecting rod is connected with the tracheae.
6. the terminal-collecting machine according to claim 4 or 5, it is characterised in that the joint is internally provided with check-valves, is used for
The unadsorbed vacuum cup to article is prevented to suck extraneous air.
7. the terminal-collecting machine according to claim 4 or 5, it is characterised in that the terminal-collecting machine includes first support, and described first
Support is connected with the connecting rod, and can be moved back and forth along the connecting rod；
Elastomeric element is arranged with the connecting rod, and between the vacuum cup and the first support.
8. terminal-collecting machine according to claim 7, it is characterised in that the connecting rod passes through guiding parts with the first support
Connection, and under the guide effect of the guiding parts, the first support moves back and forth along the connecting rod, wherein, it is described to lead
Include oil-free bushing to part.
9. terminal-collecting machine according to claim 7, it is characterised in that the terminal-collecting machine includes increasing bar and second support；
Described one end for increasing bar is fixedly connected with the first support, and the other end for increasing bar and the second support
It is fixedly connected；
Quick connector is provided with the second support, the quick connector is connected with the tracheae.
10. a kind of Prospect of Robot Sorting System, it is characterised in that the Prospect of Robot Sorting System includes the end as described in one of claim 1-9
Pick up device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720754041.9U CN206811992U (en) | 2017-06-27 | 2017-06-27 | Terminal-collecting machine and Prospect of Robot Sorting System |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720754041.9U CN206811992U (en) | 2017-06-27 | 2017-06-27 | Terminal-collecting machine and Prospect of Robot Sorting System |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356835A (en) * | 2018-08-14 | 2019-10-22 | 天津京东深拓机器人科技有限公司 | Package distribution system |
| CN110813766A (en) * | 2019-12-02 | 2020-02-21 | 邮政科学研究规划院 | Sorting system, device and method for mechanical arm belt conveyor |
| CN111015715A (en) * | 2019-10-24 | 2020-04-17 | 邮政科学研究规划院 | Mechanical arm sucker system and method suitable for postal express small pieces |
| WO2020172176A1 (en) | 2019-02-20 | 2020-08-27 | Material Handling Systems, Inc. | Vacuum-based end effector for engaging parcels |
| CN111674920A (en) * | 2020-06-05 | 2020-09-18 | 杭州展雄智能装备有限公司 | A non-returnable vacuum suction tool and its manufacturing method |
| CN113650044A (en) * | 2020-05-12 | 2021-11-16 | 北京京东乾石科技有限公司 | End picking device |
| CN114682529A (en) * | 2020-12-11 | 2022-07-01 | 因特利格雷特总部有限责任公司 | Method, device and system for automatically performing sorting operations |
| CN114769161A (en) * | 2022-04-27 | 2022-07-22 | 芜湖固高自动化技术有限公司 | 3D vision automatic sorting pile up neatly machine people and terminal anchor clamps thereof |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020034968A1 (en) * | 2018-08-14 | 2020-02-20 | 天津京东深拓机器人科技有限公司 | Parcel distribution system |
| CN110356835A (en) * | 2018-08-14 | 2019-10-22 | 天津京东深拓机器人科技有限公司 | Package distribution system |
| EP3927636A4 (en) * | 2019-02-20 | 2022-11-23 | Material Handling Systems, Inc. | VACUUM-BASED ENDEFFECTOR FOR GRAPPING PACKAGES |
| US11524403B2 (en) | 2019-02-20 | 2022-12-13 | Material Handling Systems, Inc. | Vacuum-based end effector for engaging parcels |
| WO2020172176A1 (en) | 2019-02-20 | 2020-08-27 | Material Handling Systems, Inc. | Vacuum-based end effector for engaging parcels |
| CN111015715A (en) * | 2019-10-24 | 2020-04-17 | 邮政科学研究规划院 | Mechanical arm sucker system and method suitable for postal express small pieces |
| CN110813766A (en) * | 2019-12-02 | 2020-02-21 | 邮政科学研究规划院 | Sorting system, device and method for mechanical arm belt conveyor |
| CN113650044A (en) * | 2020-05-12 | 2021-11-16 | 北京京东乾石科技有限公司 | End picking device |
| CN113650044B (en) * | 2020-05-12 | 2023-01-31 | 北京京东乾石科技有限公司 | End picking device |
| CN111674920A (en) * | 2020-06-05 | 2020-09-18 | 杭州展雄智能装备有限公司 | A non-returnable vacuum suction tool and its manufacturing method |
| CN114682529A (en) * | 2020-12-11 | 2022-07-01 | 因特利格雷特总部有限责任公司 | Method, device and system for automatically performing sorting operations |
| US11911801B2 (en) | 2020-12-11 | 2024-02-27 | Intelligrated Headquarters, Llc | Methods, apparatuses, and systems for automatically performing sorting operations |
| CN114769161A (en) * | 2022-04-27 | 2022-07-22 | 芜湖固高自动化技术有限公司 | 3D vision automatic sorting pile up neatly machine people and terminal anchor clamps thereof |
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Effective date of registration: 20210308 Address after: Room a1905, 19 / F, building 2, No. 18, Kechuang 11th Street, Daxing Economic and Technological Development Zone, Beijing 100176 Patentee after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Patentee before: Beijing Jingbangda Trading Co.,Ltd. Effective date of registration: 20210308 Address after: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Patentee after: Beijing Jingbangda Trading Co.,Ltd. Address before: 100080 Haidian District, Beijing, 65 Xing Shu Kou Road, 11C, west section of the western part of the building, 1-4 stories West 1-4 story. Patentee before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. Patentee before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd. |