Operation method of robot composite gripper for gripping bags and boxes

Abstract

The invention discloses an operation method of a robot composite gripper for gripping bags and boxes. A gripper connecting plate plays a role in connection; a gripper framework is a gripper main body part; a suction cup assembly is a box sucking device of the gripper and is arranged on the gripper framework, an air cylinder is opened only when boxes are sucked, and suction cups extend downwards to suck the boxes; when the box suction action is finished, the air cylinder is closed, the suction cups retract, and the gripper enters a bag gripping state; a gripping tooth assembly is connected with a swing rod assembly and moves along with the swing rod assembly; a bag pressing assembly presses packaging bags downwards when the grippers grab bags, and the situation that when the grippers swing, the packaging bags are thrown out of the gripper or move, and the placement positions of the stacked bags are affected is prevented; a gripping air cylinder assembly is arranged on a bottom plate of the gripper framework and connected with the swing rod assembly to drive the swing rod assembly to rotate; and the upper portion of the swing rod assembly is arranged on the gripper framework, the gripping tooth assembly is arranged on the lower portion of the swing rod assembly, and meanwhile the swing rod assembly is connected with the gripping air cylinder assembly and driven by the gripping air cylinder assembly to rotate to achieve the bag gripping action of the gripper.

Description

technical field [0001] The invention relates to robot palletizing equipment, in particular to an operation method of a robot compound gripper for grabbing bags. Background technique [0002] In the existing robot palletizing equipment, the robot mechanical gripper has bag grabbing and box grabbing, both of which are independent grippers. If there is only one robot in the equipment, there are two types of grabbing boxes and grabbing bags. products, then it is necessary to make a quick change device, the robot can only connect one kind of gripper at a time, so that the robot has to use two grippers alternately, so as to realize the grasping of boxes and bags, but the cost is high, and the quick change at the same time The device cannot realize the simultaneous production of two products, but can only produce them separately. In addition, because the width of the general mechanical gripper is different, the gripper is also different. Therefore, a quick change device is also us...

AI Technical Summary

Problems solved by technology

[0002] In the existing robot palletizing equipment, the robot mechanical gripper has bag grabbing and box grabbing, both of which are independent grippers. If there is only one robot in the equipment, there are two types of grabbing boxes and grabbing bags. products, then it is necessary to make a quick change device, the robot can only connect one kind of gripper at a time, so that the robot has to use two grippers alternately, so as to realize the grasping of boxes and bags, but the cost is high, and the quick change at the same time The device cannot realize the simultaneous production of two products, but can only produce them separately

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