Gripper device for bundling and stacking cartons

Abstract

The invention discloses a gripper device for bundling and stacking cartons. The gripper device comprises a main body device, a fixed side device and a movable side clamping device, the main body device comprises a mounting plate; the fixed side device comprises two fixed side sliding supports which are arranged in parallel in a spaced mode, and the movable side clamping device comprises two movable side sliding supports which are arranged in parallel in a spaced mode. The gripper device special for palletizing the bundled cartons is used in cooperation with a robot, manual palletizing is replaced, the labor intensity of workers can be relieved, and the palletizing efficiency of the bundled cartons can be improved. A hook claw of the fixed side device and a supporting hook of the movable side clamping device can guarantee that the carton is not prone to side turning or midway falling in the carrying process, and stability is improved. The motor drives the synchronous belt, the fixed side sliding support and the movable side sliding support can be driven to move oppositely or move away from each other, the distance between the fixed side device and the movable side clamping device can be symmetrically decreased and increased, the carton box clamping device is suitable for cartons of different sizes and specifications, and therefore additional adjustment is not needed.

Description

Technical Field

[0001] The invention relates to the field of machinery, in particular to a handling device, and in particular to a gripping device for bundling cartons and stacking them. Background Art

[0002] Bundled cartons refer to folded, unopened cartons that are packed in bundles. The cartons produced by the box gluer are folded and unopened. Generally, a certain number of folded cartons are bundled according to actual needs. The bundled cartons will be stacked on pallets according to the requirements of the pallet type, and then the pallets will be shipped out. In the prior art, bundled cartons are manually transported and stacked on pallets. This manual transport and stacking method is cumbersome to operate, has high labor intensity, and has low work efficiency. Summary of the invention

[0003] The object of the present invention is to provide a gripper device for bundling cartons and stacking them, which is intended to solve the technical problems in the prior art of manual handling and stacking of cartons, which are cumbersome operation, high labor intensity and low work efficiency.

[0004] A gripper device for bundling cartons and stacking the cartons of the present invention comprises a main body device, a fixed side device, and a movable side clamping device;

[0005] The main device comprises a mounting plate, a mounting bracket is respectively arranged on both sides of the mounting plate, a first guide rail is respectively arranged on the side of the two mounting brackets, the first guide rail is parallel to the length direction of the mounting bracket, and a first driving device is arranged on the mounting bracket;

[0006] The fixed side device comprises two fixed side sliding brackets arranged in parallel and at intervals, first sliders are fixedly arranged on the first end sides of the two fixed side sliding brackets, the first sliders on the two fixed side sliding brackets are respectively connected to the first ends of the two first guide rails, the first sliders and the first ends of the first guide rails form a sliding pair, the fixed side sliding brackets are connected to the power output end of the first driving device, the second ends of the two fixed side sliding brackets are connected to a fixed side clamping plate, and the fixed side clamping plate is provided with a hook rotation device;

[0007] The movable side clamping device includes two movable side sliding brackets arranged in parallel and at intervals, and the sides of the first ends of the two movable side sliding brackets are respectively fixedly provided with a second sliding block, the second sliding blocks on the two movable side sliding brackets are respectively connected to the second ends of the two first guide rails, the second sliding block and the second end of the first guide rail form a sliding pair, the movable side sliding bracket is connected to the power output end of the first driving device, the second ends of the two movable side sliding brackets are connected to a connecting plate, a movable side clamping plate is arranged below the connecting plate, a second guide rail is respectively arranged on both sides of the movable side clamping plate, the second guide rail is parallel to the length direction of the movable side clamping plate, and a third sliding block is respectively arranged on the second guide rail.

[0008] Furthermore, the first driving device includes a motor and two synchronous belt pulleys, the two synchronous belt pulleys are respectively arranged at both ends of the mounting plate, a synchronous belt is connected between the two synchronous belt pulleys, the output shaft of the motor is connected to one of the synchronous belt pulleys, a first synchronous belt clamp is connected to the fixed side sliding bracket, and a second synchronous belt clamp is connected to the movable side sliding bracket, and the first synchronous belt clamp and the second synchronous belt clamp are respectively clamped on the synchronous belts on both sides.

[0009] Furthermore, the hook claw rotating device includes a first cylinder, at least two through holes are arranged in the fixed side clamp plate along its length direction, the axial direction of the through hole is parallel to the height direction of the fixed side clamp plate, a rotating shaft is respectively arranged in any through hole, the lower end of any rotating shaft is respectively connected to a hook claw, the upper end of any rotating shaft is respectively connected to one end of a connecting rod, the other end of the connecting rod is hinged to a movable plate through a pin shaft, the tail of the first cylinder is hinged to a first support through a pin shaft, the first support is fixed on the fixed side clamp plate, and the piston rod of the first cylinder is hinged to the movable plate through a pin shaft.

[0010] Furthermore, the hook flipping device includes a rotating plate, which is hinged to the bottom of the movable side clamp plate through a hinge, and at least two hooks are arranged at intervals along the length direction of the bottom of the rotating plate. A second cylinder is arranged on the movable side clamp plate, and the tail end of the second cylinder is hinged to a second support through a pin shaft, and the second support is fixed on the movable side clamp plate. The piston rod of the second cylinder is hinged to a third support through a pin shaft, and the third support is fixed on the rotating plate.

[0011] Furthermore, the second driving device includes a third cylinder, a piston rod of the third cylinder is hinged to a fourth support, the fourth support is fixed to the movable side clamping plate, and the tail end of the third cylinder is hinged to the connecting plate through a pin shaft.

[0012] Furthermore, an annular drag chain device is provided on the mounting plate.

[0013] Compared with the prior art, the effect of the present invention is positive and obvious. The present invention is a gripper device specially used for stacking bundled cartons. It is used in conjunction with a robot to replace manual stacking, which can reduce the intensity of manual labor and improve the stacking efficiency of bundled cartons. The hook claw of the fixed side device and the support hook of the mobile side clamping device can ensure that the carton is not easy to tip over or fall off during transportation, thereby improving stability. The motor drives the synchronous belt, which can drive the fixed side sliding bracket and the mobile side sliding bracket to move toward or away from each other. The distance between the fixed side device and the mobile side clamping device can be symmetrically reduced and increased, which is suitable for cartons of different sizes and specifications, so no additional adjustment is required. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The present invention is a schematic diagram of a gripper device for bundling cartons for palletizing.

[0015] Figure 2 This is a first schematic diagram of a main device in a gripper device for bundling cartons and palletizing according to the present invention.

[0016] Figure 3 This is a second schematic diagram of a main device in a gripper device for bundling cartons and palletizing according to the present invention.

[0017] Figure 4 The first schematic diagram of a fixed side device in a gripper device for bundling cartons for palletizing according to the present invention.

[0018] Figure 5 This is a second schematic diagram of a fixed side device in a gripper device for bundling cartons for palletizing according to the present invention.

[0019] Figure 6 The first schematic diagram of a hook rotating device in a gripper device for bundling cartons and stacking the cartons according to the present invention.

[0020] Figure 7 This is a second schematic diagram of a hook rotating device in a gripper device for bundling cartons and stacking the cartons according to the present invention.

[0021] Figure 8 The first schematic diagram of a movable side clamping device in a gripper device for bundling cartons and palletizing according to the present invention.

[0022] Fig. 9 The present invention is a schematic diagram of a second driving device in a gripper device for bundling cartons and palletizing.

[0023] Fig.10The present invention is a schematic diagram of a hook flipping device in a gripper device for bundling cartons and stacking. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited to the embodiments, and all similar structures and similar variations of the present invention should be included in the protection scope of the present invention. The use of directions such as up, down, front, back, left, and right in the present invention is only for the convenience of description and is not a limitation on the technical solution of the present invention.

[0025] like Figure 1-Figure 10 As shown, a gripper device for bundling cartons and stacking the cartons of the present invention comprises a main body device 1, a fixed side device 2, and a movable side clamping device 3;

[0026] The main device 1 includes a mounting plate 4, and a mounting bracket 5 is respectively arranged on both sides of the mounting plate 4. A first guide rail 6 is respectively arranged on the side of the two mounting brackets 5. The first guide rail 6 is parallel to the length direction of the mounting bracket 5. The mounting bracket 5 is provided with a first driving device;

[0027] The fixed side device 2 comprises two fixed side sliding brackets 7 arranged in parallel and at intervals, first sliders 8 are fixedly arranged on the first end sides of the two fixed side sliding brackets 7, the first sliders 8 on the two fixed side sliding brackets 7 are respectively connected to the first ends of the two first guide rails 6, the first sliders 8 and the first ends of the first guide rails 6 form a sliding pair, the fixed side sliding brackets 7 are connected to the power output end of the first driving device, the second ends of the two fixed side sliding brackets 7 are connected to a fixed side clamping plate 9, and a hook rotating device 10 is arranged on the fixed side clamping plate 9;

[0028] The mobile side clamping device 3 includes two mobile side sliding brackets 11 arranged in parallel and spaced apart, and the side surfaces of the first ends of the two mobile side sliding brackets 11 are respectively fixedly provided with a second slider 12, the second sliders 12 on the two mobile side sliding brackets 11 are respectively connected to the second ends of the two first guide rails 6, and the second slider 12 and the second end of the first guide rail 6 constitute a sliding pair, the mobile side sliding bracket 11 is connected to the power output end of the first driving device, the second ends of the two mobile side sliding brackets 11 are connected to a connecting plate 13, a mobile side clamping plate 14 is arranged below the connecting plate 13, and a second guide rail 15 is respectively arranged on both sides of the mobile side clamping plate 14, the second guide rail 15 is parallel to the length direction of the mobile side clamping plate 14, and a third slider 16 is respectively arranged on the second guide rail 15, and the two ends of the connecting plate 13 are respectively fixedly connected to the two third sliders 16, and the two ends of the mobile side clamping plate 14 are respectively provided with a second driving device, and the power output ends of the second driving device are connected to the connecting plate 13, and a hook flipping device 17 is arranged on the mobile side clamping plate 14.

[0029] Furthermore, the first driving device includes a motor 18 and two synchronous belt pulleys 19, the two synchronous belt pulleys 19 are respectively arranged at both ends of the mounting plate 4, a synchronous belt 20 is connected between the two synchronous belt pulleys 19, the output shaft of the motor 18 is connected to one of the synchronous belt pulleys 19, a first synchronous belt clamp 21 is connected to the fixed side sliding bracket 7, and a second synchronous belt clamp 22 is connected to the movable side sliding bracket 11, and the first synchronous belt clamp 21 and the second synchronous belt clamp 22 are respectively clamped on the synchronous belts 20 on both sides.

[0030] Furthermore, the hook rotating device 10 includes a first cylinder 23, at least two through holes are arranged in the fixed side clamp plate 9 along its length direction, the axial direction of the through hole is parallel to the height direction of the fixed side clamp plate 9, a rotating shaft 36 is respectively arranged in any through hole, the lower end of any rotating shaft 36 is respectively connected to a hook 24, the upper end of any rotating shaft 36 is respectively connected to one end of a connecting rod 25, the other end of the connecting rod 25 is hinged to a movable plate 26 through a pin shaft, the tail of the first cylinder 23 is hinged to a first support 27 through a pin shaft, the first support 27 is fixed on the fixed side clamp plate 9, and the piston rod of the first cylinder 23 is hinged to the movable plate 26 through a pin shaft.

[0031] Furthermore, the hook flipping device 17 includes a rotating plate 28, which is hinged to the bottom of the movable side clamp 14 through a hinge, and at least two hooks 29 are arranged at intervals along its length direction at the bottom of the rotating plate 28. A second cylinder 30 is arranged on the movable side clamp 14, and the tail end of the second cylinder 30 is hinged to a second support 31 through a pin shaft, and the second support 31 is fixed on the movable side clamp 14. The piston rod of the second cylinder 30 is hinged to a third support 32 through a pin shaft, and the third support 32 is fixed on the rotating plate 28.

[0032] Furthermore, the second driving device includes a third cylinder 33, a piston rod of the third cylinder 33 is hinged to a fourth support 34, the fourth support 34 is fixed to the movable side clamping plate 14, and the tail end of the third cylinder 33 is hinged to the connecting plate 13 through a pin shaft.

[0033] Furthermore, an annular drag chain device 35 is provided on the mounting plate 4 .

[0034] Specifically, the first drive device, guide rail, slider, second drive device, motor 18, cylinder, synchronous pulley 19, synchronous belt 20, synchronous belt clamp, hook 24, support hook 29, annular drag chain device 35, etc. in this embodiment all adopt the well-known scheme in the prior art, which is well known to those skilled in the art and will not be described in detail here. The drive device, motor, and cylinder in this embodiment all operate under the control of the controller. The first drive device can also use the motor 18 to drive the fixed side device 2 and the movable side clamping device 3 to move closer to or away from each other through the positive and negative thread screw nut.

[0035] The working principle of this embodiment:

[0036] When in use, the main device 1 of the device is installed on the action end of the robot through the mounting plate 4.

[0037] Process 1: Return to the initial position first: the motor 18 drives the fixed side device 2 and the mobile side clamping device 3 to move away from each other through the synchronous belt 20, so that the distance between the fixed side device 2 and the mobile side clamping device 3 reaches the maximum, the hook 24 is placed in the idle position, the support hook 29 is placed in the idle position, and the third cylinder 33 of the mobile side clamping device 3 drives the mobile side clamping plate 14 to a position away from the fixed side device 2.

[0038] Process 2: The bundled cartons are sent to the corresponding position by the roller conveyor. According to the size of the cartons, the output shaft of the motor 18 rotates the corresponding number of circles, and the fixed side device 2 and the movable side clamping device 3 are driven to move toward each other through the synchronous belt 20. The distance is symmetrically reduced to meet the carton clamping requirements.

[0039] Process 3: The first cylinder 23 of the hook rotating device 10 of the fixed side device 2 drives the hook 24 to rotate to the working position (such as Figure 5 As shown), the second cylinder 30 of the hook flipping device 17 of the mobile side clamping device 3 flips the hook 29 to the working position (as shown) by rotating the plate 28. Fig.10 shown).

[0040] Process 4: The robot drives the device to the grasping position, and the hook 24 of the fixed side device 2 and the hook 29 of the mobile side clamping device 3 reach between the adjacent rollers of the roller conveyor and are lower than the bottom surface of the carton.

[0041] Process 5: After the sensor on the roller conveyor production line detects the carton, the controller controls the third cylinder 33 of the mobile side clamping device 3 to drive the mobile side clamping plate 14 to move toward the fixed side device 2, thereby clamping the carton.

[0042] Process 6: The robot drives the carton to the pallet and adjusts its posture according to the requirements of the pallet shape.

[0043] Process 7: The robot moves to above the placement point, the first cylinder 23 of the hook rotating device 10 drives the hook 24 to rotate to the idle position, the second cylinder 30 of the hook flipping device 17 drives the hook 29 to flip to the idle position, and the third cylinder 33 of the mobile side clamping device 3 drives the mobile side clamping plate 14 away from the fixed side device 2, thereby releasing the carton, and the carton falls onto the pallet under the action of gravity, completing the stacking action.

[0044] Process 9: Loop.

[0045] The present invention is a gripper device specially used for stacking bundled cartons, which is used in conjunction with a robot to replace manual stacking, thereby reducing the intensity of manual labor and improving the stacking efficiency of bundled cartons. The hook 24 of the fixed side device 2 and the support hook 29 of the mobile side clamping device 3 can ensure that the cartons are not easily overturned or dropped during the transportation process, thereby improving stability.

[0046] The motor 18 drives the synchronous belt 20, which can drive the fixed side sliding bracket 7 and the movable side sliding bracket 11 to move toward or away from each other. The distance between the fixed side device 2 and the movable side clamping device 3 can be symmetrically reduced and increased, which is suitable for cartons of different sizes and specifications, and no additional adjustment is required.

[0047] The use of the annular drag chain device 35 can effectively protect the electrical cables, and all the cables are placed in the drag chain, so the cables will not scrape against surrounding equipment during the movement of the robot.

Claims

1. A gripper device for bundling cartons and stacking, characterized in that: It includes a main device, a fixed side device, and a movable side clamping device; The main device comprises a mounting plate, a mounting bracket is respectively arranged on both sides of the mounting plate, a first guide rail is respectively arranged on the side of the two mounting brackets, the first guide rail is parallel to the length direction of the mounting bracket, and a first driving device is arranged on the mounting bracket; The fixed side device comprises two fixed side sliding brackets arranged in parallel and at intervals, first sliders are fixedly arranged on the first end sides of the two fixed side sliding brackets, the first sliders on the two fixed side sliding brackets are respectively connected to the first ends of the two first guide rails, the first sliders and the first ends of the first guide rails form a sliding pair, the fixed side sliding brackets are connected to the power output end of the first driving device, the second ends of the two fixed side sliding brackets are connected to a fixed side clamping plate, and the fixed side clamping plate is provided with a hook rotation device; The movable side clamping device includes two movable side sliding brackets arranged in parallel and at intervals, and the sides of the first ends of the two movable side sliding brackets are respectively fixedly provided with a second sliding block, the second sliding blocks on the two movable side sliding brackets are respectively connected to the second ends of the two first guide rails, the second sliding block and the second end of the first guide rail form a sliding pair, the movable side sliding bracket is connected to the power output end of the first driving device, the second ends of the two movable side sliding brackets are connected to a connecting plate, a movable side clamping plate is arranged below the connecting plate, a second guide rail is respectively arranged on both sides of the movable side clamping plate, the second guide rail is parallel to the length direction of the movable side clamping plate, and a third sliding block is respectively arranged on the second guide rail.

2. A gripper device for bundling cartons and stacking according to claim 1, characterized in that: The first driving device includes a motor and two synchronous belt pulleys, the two synchronous belt pulleys are respectively arranged at both ends of the mounting plate, a synchronous belt is connected between the two synchronous belt pulleys, the output shaft of the motor is connected to one of the synchronous belt pulleys, a first synchronous belt clamp is connected to the fixed side sliding bracket, and a second synchronous belt clamp is connected to the movable side sliding bracket, and the first synchronous belt clamp and the second synchronous belt clamp are respectively clamped on the synchronous belts on both sides.

3. The gripper device for bundling cartons and stacking according to claim 1, characterized in that: The hook claw rotating device includes a first cylinder, at least two through holes are arranged in the fixed side clamp plate along its length direction, the axial direction of the through hole is parallel to the height direction of the fixed side clamp plate, a rotating shaft is respectively arranged in any through hole, the lower end of any rotating shaft is respectively connected to a hook claw, the upper end of any rotating shaft is respectively connected to one end of a connecting rod, the other end of the connecting rod is hinged to a movable plate through a pin shaft, the tail of the first cylinder is hinged to a first support through a pin shaft, the first support is fixed on the fixed side clamp plate, and the piston rod of the first cylinder is hinged to the movable plate through a pin shaft.

4. A gripper device for bundling cartons and stacking according to claim 1, characterized in that: The hook flipping device includes a rotating plate, which is hinged to the bottom of the movable side clamping plate through a hinge, and at least two hooks are arranged at intervals along the length direction of the bottom of the rotating plate. A second cylinder is arranged on the movable side clamping plate, and the tail end of the second cylinder is hinged to a second support through a pin shaft, and the second support is fixed on the movable side clamping plate. The piston rod of the second cylinder is hinged to a third support through a pin shaft, and the third support is fixed on the rotating plate.

5. The gripper device for bundling cartons and stacking according to claim 1, characterized in that: The second driving device comprises a third cylinder, a piston rod of the third cylinder is hinged to a fourth support, the fourth support is fixed on the moving side clamping plate, and the tail end of the third cylinder is hinged to the connecting plate through a pin shaft.

6. The gripper device for bundling cartons and stacking according to claim 1, characterized in that: An annular drag chain device is arranged on the mounting plate.

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