Four-in-one robot palletizing gripper

Abstract

The application relates to a four-in-one robot palletizing gripper, which comprises a connecting frame and four integrated functional mechanisms. The bagged material clamping mechanism drives two symmetrical spades hinged on a first connecting shaft to swing towards or away from each other by a first driving assembly, so as to realize the clamping and releasing of the bagged material. The paperboard sucking mechanism drives two first suction disc frames hinged on the first connecting shaft to swing towards or away from each other synchronously by a second driving assembly, so that the first suction disc group installed at the end portion of the first suction disc frame can be adaptively inclined or vertical, thereby precisely sucking and laying the interlayer paperboard. The tray clamping mechanism drives two groups of hook portions on two second connecting shafts to swing towards or away from each other by a third driving assembly, so as to realize the clamping and placing of the empty tray. The film sucking mechanism sucks the bottom film through a second suction disc frame fixed to the connecting frame and a second suction disc group thereon. The application significantly improves the bagged material palletizing efficiency, reduces manual intervention and lowers the labor cost.

Description

Technical Field

[0001] This application relates to the technical field of palletizing equipment, and more specifically, to a four-in-one robotic palletizing gripper. Background Technology

[0002] In modern industrial production and logistics warehousing, automated palletizing of bagged materials is a key step in improving efficiency, reducing labor costs, and ensuring operational safety. Currently, the mainstream technical solution involves using industrial robots equipped with specialized bag grippers, such as clamp grippers or vacuum suction cup grippers, to pick up bagged materials from the conveyor line and stack them onto pallets according to a preset stacking pattern.

[0003] However, a complete, industry-standard bagged material palletizing process involves more than just stacking the bags themselves. To ensure the stability of the stack and transportation safety, as well as to meet the hygiene or isolation requirements of specific industries, the following auxiliary operations are usually required: Before stacking begins, empty pallets need to be accurately placed on the stacking station. Before placing the bags on the pallet, a layer of plastic film is usually laid on the bottom of the pallet to prevent moisture and dust, or to increase the friction between the bags and the pallet and prevent the stack from sliding during transportation. After stacking one layer of bagged material, a layer of cardboard needs to be placed on top of the bag layer to prevent the upper bags from squeezing into the gaps of the lower bags, which could cause stack deformation or bag damage.

[0004] Currently, traditional robotic grippers are typically designed only for grasping and placing bagged materials themselves. The grasping, handling, and placement of three essential auxiliary materials—pallets, bottom films, and interlayer cardboard—remains highly dependent on manual labor. Manually placing pallets, films, and cardboard requires workers to frequently enter the robot's work area or assist, at a speed far slower than the robot's automatic bag-grabbing and placing speed, becoming a bottleneck restricting the overall automation efficiency of the production line. Robots often need to wait for manual assistance, preventing continuous and efficient automated production. Additional operators are required, increasing labor costs and management burden. Repetitive auxiliary operations also increase the labor intensity of workers. Utility Model Content

[0005] To address the issues of low efficiency and high labor costs associated with manually placing pallets, films, and cardboard during the palletizing of bagged materials, this application provides a four-in-one robotic palletizing gripper.

[0006] A four-in-one robotic palletizing gripper includes:

[0007] A connecting frame for connecting to the output end of the robot;

[0008] A bag material clamping mechanism includes two first connecting shafts fixed on the connecting frame and arranged in parallel and symmetrical arrangement. Each first connecting shaft is hinged with a shovel claw. The two shovel claws are connected to a first driving component, which drives the two shovel claws to swing towards or away from each other.

[0009] The cardboard suction mechanism includes two first suction cup frames, which are respectively hinged to two first connecting shafts. The two first suction cup frames are located on the outside of the two shovel claws. Each of the two first suction cup frames is provided with a first suction cup group at the end away from the first connecting shaft. The two first suction cup frames are connected to a second driving component. The second driving component drives the two first suction cup frames to swing towards or away from each other, so that the first suction cup groups on the two first suction cup frames are in a synchronous tilted or vertical state.

[0010] The pallet gripping mechanism includes two second connecting shafts rotatably mounted on the connecting frame. The two second connecting shafts are located outside the two first connecting shafts, and the second connecting shafts are parallel to the first connecting shafts. Each second connecting shaft is provided with a hook group with the hook portion facing inward. The two hook groups are connected to a third driving component, which drives the two hook groups to swing towards or away from each other.

[0011] A film suction mechanism, comprising a second suction cup frame fixed to the connecting frame and a second suction cup assembly disposed on the second suction cup frame, wherein the second suction cup frame is located outside one of the second connecting shafts.

[0012] Preferably, each of the shovel claws includes an L-shaped plate and a first hinge joint and a second hinge joint respectively disposed at the top two ends of the L-shaped plate. The top ends of the first hinge joint and the second hinge joint are both hinged to the first connecting shaft. The lateral portions of the L-shaped plates of the two shovel claws are arranged facing each other, and the lateral portions of the L-shaped plates are provided with a plurality of through slots. The plurality of through slots are arranged along the width direction of the lateral portions of the L-shaped plates to divide the lateral portions of the L-shaped plates into a plurality of support strips.

[0013] Preferably, the top end of the first hinge joint of one of the shovel claws is provided with a downwardly extending first connecting arm, and the top end of the first hinge joint of the other shovel claw is provided with an upwardly extending second connecting arm. The first drive assembly includes a first fisheye joint and a first telescopic cylinder. One end of the first fisheye joint is hinged to the bottom end of the first connecting arm, and the other end of the first fisheye joint is hinged to the middle part of the second connecting arm. The first telescopic cylinder is fixed on the connecting frame and is placed horizontally. The telescopic shaft of the first telescopic cylinder is hinged to the top end of the second connecting arm.

[0014] Preferably, each of the first suction cup frames includes a transverse mounting member and a first V-shaped bend arm and a second V-shaped bend arm. One end of the first V-shaped bend arm and the second V-shaped bend arm are hinged to the first connecting shaft. The first V-shaped bend arm and the second V-shaped bend arm are arranged parallel and symmetrically along the length direction of the first connecting shaft. The ends of the two first V-shaped bend arms and the second V-shaped bend arms away from the first connecting shaft are connected to the transverse mounting member. The transverse mounting member is parallel to the first connecting shaft. The first suction cup group includes two first suction cups. The two first suction cups are respectively installed at the two ends of the transverse mounting member. The distance from the first suction cup to the first connecting shaft is greater than the distance from the bottom end of the scraper claw to the first connecting shaft.

[0015] Preferably, one of the first suction cup holders has a first V-shaped curved arm with a downwardly extending third connecting arm at one end near the first connecting shaft, and the other first suction cup holder has a first V-shaped curved arm with an upwardly extending fourth connecting arm at one end near the first connecting shaft. The second drive assembly includes a second fisheye connector and a second telescopic cylinder. One end of the second fisheye connector is hinged to the bottom end of the third connecting arm, and the other end of the second fisheye connector is hinged to the middle of the fourth connecting arm. The second telescopic cylinder is fixed on the connecting frame and placed horizontally, and the telescopic shaft of the second telescopic cylinder is hinged to the top end of the fourth connecting arm.

[0016] Preferably, each set of the swing hooks includes a first straight rod and a second straight rod, one end of the first straight rod and the second straight rod are respectively connected and fixed to the two ends of the second connecting shaft, and the ends of the first straight rod and the second straight rod away from the second connecting shaft are provided with barbs.

[0017] Preferably, each of the first and second straight rods of a set of hook assemblies is provided with an upwardly extending fifth connecting arm at one end near the second connecting shaft. The third drive assembly includes a third telescopic cylinder, a sixth connecting arm, and two third fisheye connectors. The two third fisheye connectors are respectively hinged to the two fifth connecting arms, and the ends of the two third fisheye connectors away from the fifth connecting arms are respectively hinged to the first and second straight rods of another set of hook assemblies. One end of the sixth connecting arm is fixedly connected to a second connecting shaft. The third telescopic cylinder is fixed on the connecting frame and placed horizontally. The telescopic shaft of the third telescopic cylinder is fixedly connected to the end of the sixth connecting arm away from the second connecting shaft.

[0018] Preferably, the second suction cup frame includes a connecting strip and a crossbar. One end of the connecting strip is connected to the connecting frame, and the crossbar is connected to the end of the connecting strip away from the connecting frame. The crossbar is parallel to the second connecting shaft. The second suction cup assembly includes two second suction cups, which are respectively mounted at both ends of the second suction cup frame. Preferably, the film suction mechanism further includes a rotary cylinder fixed to the second suction cup frame, and a pressure rod is provided on the drive shaft of the rotary cylinder.

[0019] Preferably, the cardboard suction mechanism further includes a fourth telescopic cylinder, which is located between the two first connecting shafts and is vertically arranged. The fourth telescopic cylinder is fixedly connected to the connecting frame and its telescopic shaft is arranged downward. A pressure block is fixed on the telescopic shaft of the fourth telescopic cylinder.

[0020] The beneficial technical effects of this application are as follows: By integrating four functional modules—bag material gripping, cardboard suction, pallet gripping, and film adsorption—on a single connecting frame, it solves the bottleneck problem of relying on manual operation for auxiliary materials in traditional palletizing processes. The bag material gripping mechanism uses symmetrical claws and a first drive component to work in tandem to ensure stable gripping and placement of bag materials; the cardboard suction mechanism uses a second drive component to drive the first suction cup frame to swing, allowing the suction cup assembly to adapt to tilted or vertical postures, accurately picking up and laying cardboard between layers; the pallet gripping mechanism uses a hook assembly to swing bidirectionally under the control of a third drive component, achieving reliable gripping and positioning of empty pallets; the film suction mechanism uses an independently set second suction cup assembly to efficiently adsorb and lay the bottom film. The robot can complete four operations—pallet placement, film laying, bag material stacking, and interlayer cardboard delivery—in a single operation, eliminating the downtime of waiting for manual assistance in traditional processes and significantly improving overall line efficiency; the four-in-one gripper replaces manual labor for auxiliary material handling, reducing the need for dedicated positions, lowering labor costs and management burdens, and avoiding the safety hazards of frequent worker entry and exit from the robot's work area. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a four-in-one robotic palletizing gripper in this embodiment.

[0022] Figure 2 This is a schematic diagram of the connecting frame in this embodiment.

[0023] Figure 3 This is a schematic diagram of the connection structure between the bag material clamping mechanism and the cardboard suction mechanism in this embodiment.

[0024] Figure 4 This is a schematic diagram of the pallet gripping mechanism in this embodiment.

[0025] Figure 5This is a schematic diagram of the thin film suction mechanism in this embodiment.

[0026] Reference numerals: 1. Connecting frame; 11. Shaft; 12. Mounting base plate; 121. First fixing block; 1211. First protruding post; 122. Second fixing block; 1221. Second protruding post; 123. Third fixing block; 1231. Third protruding post; 124. Fixing component; 13. L-shaped connecting piece; 2. Bag material clamping mechanism; 21. First connecting shaft; 22. Shovel claw; 221. L-shaped plate; 222. First hinge joint; 223. Second hinge joint; 224. First connecting swing arm; 225. Second connecting swing arm; 23. First drive assembly; 231. First fisheye joint; 232. First telescopic cylinder; 2321. First U-shaped frame; 3. Cardboard suction mechanism; 31. First suction cup frame; 311. Lateral mounting component; 312. First V-shaped curved arm; 31 3. Second V-shaped curved arm; 314. Third connecting swing arm; 315. Fourth connecting swing arm; 32. First suction cup; 33. Second drive assembly; 331. Second fisheye connector; 332. Second telescopic cylinder; 3321. Second U-shaped frame; 34. Fourth telescopic cylinder; 341. Pressure block; 4. Pallet gripping mechanism; 41. Second connecting shaft; 42. Hook assembly; 421. First straight rod; 422. Second straight rod; 423. Fifth connecting swing arm; 43. Third drive assembly; 431. Third telescopic cylinder; 4311. Third U-shaped frame; 432. Sixth connecting swing arm; 433. Third fisheye connector; 5. Film suction mechanism; 51. Second suction cup frame; 511. Connecting bar; 512. Horizontal bar; 52. Second suction cup; 53. Rotary cylinder; 54. Pressure rod. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Reference Figure 1 and Figure 2 A four-in-one robot palletizing gripper includes a connecting frame 1, a bag material gripping mechanism 2, a cardboard suction mechanism 3, a pallet gripping mechanism 4, and a film suction mechanism 5. The connecting frame 1 includes a shaft 11, a mounting base plate 12 disposed at one end of the shaft 11, and four L-shaped connecting pieces 13 disposed at the four corners of the mounting base plate 12. The shaft 11 is used to connect to the output end of the robot. The four L-shaped connecting pieces 13 are all in a horizontal position and are fixed to the mounting base plate 12 by bolts. The four L-shaped connecting pieces 13 are divided into two groups, each group consisting of two adjacent parallel and symmetrical L-shaped connecting pieces 13.

[0029] Reference Figure 1-3 The bag-filling material gripping mechanism 2 includes two first connecting shafts 21, which are respectively installed on two sets of L-shaped connecting plates 13. One end of the first connecting shaft 21 is connected and fixed to the bottom of the vertical part of one L-shaped connecting plate 13, and the other end of the first connecting shaft 21 is connected and fixed to the bottom of the vertical part of the other L-shaped connecting plate 13. The two first connecting shafts 21 are arranged in parallel and symmetrically. Each first connecting shaft 21 is hinged with a claw 22. The two claws 22 are connected to a first drive assembly 23. The shaft 1 is driven by the robot to move the shaft 1. 1 is perpendicular to the ground. The first drive component 23 drives the two claws 22 to swing towards or away from each other. The two claws 22 swing towards each other to grip the bagged material on the conveyor line. The robot drives the claws 22 to transport the bagged material to the designated position on the pallet. The two claws 22 swing away from each other to release the gripping of the bagged material and allow the bagged material to fall off by its own weight. The robot is existing technology and is usually a six-axis robot that drives the connecting frame 1 to move in multiple directions. The specific structure of the robot will not be described in detail in this embodiment.

[0030] Reference Figure 3 The cardboard suction mechanism 3 includes two first suction cup frames 31, which are respectively hinged to two first connecting shafts 21. The two first suction cup frames 31 are located outside the two shovel claws 22. Each of the two first suction cup frames 31 has a first suction cup group at the end away from the first connecting shaft 21, and the distance from the first suction cup group to the first connecting shaft 21 is greater than the distance from the bottom of the shovel claw 22 to the first connecting shaft 21. The two first suction cup frames 31 are connected to a second drive assembly 33. The second drive assembly 33 drives the two first suction cup frames 31 to swing towards or away from each other, so that the first suction cup groups on the two first suction cup frames 31 are in a synchronous tilted or vertical state. The first suction cup frames 31 and the first suction cup groups are located outside the first connecting shaft 21 and are in a tilted state to avoid the movement of the shovel claws 22. The first suction cup groups are in a vertical state to contact the cardboard lying flat on the ground and to adsorb the cardboard. The first suction cup groups move the cardboard to the corresponding tray position by moving the connecting frame 1 driven by the robot.

[0031] Reference Figure 1 and Figure 4The pallet gripping mechanism 4 includes two second connecting shafts 41, which are respectively installed on two sets of L-shaped connecting pieces 13. One end of the second connecting shaft 41 is rotatably connected to the top of the horizontal portion of one L-shaped connecting piece 13, and the other end of the second connecting shaft 41 is rotatably connected to the top of the horizontal portion of the other L-shaped connecting piece 13. The two second connecting shafts 41 are arranged in parallel and symmetrically, and the second connecting shafts 41 are parallel to the first connecting shaft 21. Each second connecting shaft 41 is fixed with an inwardly facing swing hook assembly 42. The hook assembly 42 is connected to the third drive assembly 43. The third drive assembly 43 drives the two sets of hook assemblies 42 to swing towards or away from each other. The two sides of the pallet usually have through holes for the forklift forks to pass through. By swinging the two sets of hook assemblies 42 towards each other, the hooks of the two sets of hook assemblies 42 are respectively inserted into the through holes on both sides of the pallet, thus hooking the pallet and clamping it. The robot drives the connecting frame 1 to move the pallet to the designated position. By swinging the two sets of hook assemblies 42 away from each other, the pallet is released and the pallet is unloaded.

[0032] Reference Figure 1 and Figure 5 The film suction mechanism 5 includes a second suction cup frame 51 and a second suction cup assembly. The second suction cup frame 51 is located outside one of the second connecting shafts 41. The second suction cup assembly is set on the second suction cup frame 51. The robot makes the mounting base plate 12 stand upright with the second suction cup assembly facing down. The robot drives the connecting frame 1 to descend, which in turn drives the second suction cup assembly to descend and contact the film to achieve contact adsorption and fixation of the film. Then, the robot drives the connecting frame 1 to drag the film onto the tray for flat laying.

[0033] Reference Figure 3Furthermore, each shovel claw 22 includes an L-shaped plate 221, a first hinge joint 222, and a second hinge joint 223. The first hinge joint 222 and the second hinge joint 223 are respectively located at both ends of the top of the L-shaped plate 221. Bearings are provided at the top ends of both the first hinge joint 222 and the second hinge joint 223, and they are hinged to the first connecting shaft 21 via the bearings. The lateral portions of the L-shaped plates 221 of the two shovel claws 22 are arranged facing each other. By swinging the two shovel claws 22 towards each other, the lateral portions of the L-shaped plates 221 shovel towards the bottom of the bagged material. The bagged material is supported by the lateral portions of the two L-shaped plates 221, and... The gripper clamps the bagged material at the vertical section of the two L-shaped plates 221. The horizontal section of the L-shaped plates 221 has several through slots, which are arranged along the width of the horizontal section of the L-shaped plates 221 to divide the horizontal section of the L-shaped plates 221 into several support bars. The through slots reduce the weight of the L-shaped plates 221, making the overall weight of the gripper lower and reducing the load on the robot. At the same time, when the bagged material containing granules is supported by the support bars, the support bars compress the bagged material, causing the bagged material to be concave. This makes it less likely for the bagged material to move relative to the claw 22 during the handling process, making the bagged material more stable during handling and transfer.

[0034] Reference Figure 3 Furthermore, a first connecting arm 224 extending downward is provided at the top of the first hinge joint 222 of one shovel claw 22, and a second connecting arm 225 extending upward is provided at the top of the first hinge joint 222 of the other shovel claw 22. The first drive assembly 23 includes a first fisheye joint 231 and a first telescopic cylinder 232. One end of the first fisheye joint 231 is hinged to the bottom end of the first connecting arm 224, and the other end of the first fisheye joint 231 is hinged to the middle of the second connecting arm 225. A first fixing block 121 is provided on the bottom surface of the mounting base plate 12. First protrusions 1211 are provided on both opposite sides of the first fixing block 121. A first U-shaped frame 2321 is provided at the bottom end of the first telescopic cylinder 232. Matching first protrusions are provided on both opposite side walls of the first U-shaped frame 2321. The first U-shaped frame 2321 is fitted onto the first fixing block 121 through the perforation of the column 1211. The two first protruding columns 1211 pass through the two perforations of the first U-shaped frame 2321 to fix the first telescopic cylinder 232. The first telescopic cylinder 232 is placed horizontally and its telescopic shaft is hinged to the top of the second connecting arm 225. The telescopic rod of the first telescopic cylinder 232 extends and retracts, driving the second connecting arm 225 to swing. The swing of the second connecting arm 225 drives the first hinge joint 222, which is integrated with it, to swing in the opposite direction. The first fisheye joint 231 drives the first connecting arm 224 to swing in the opposite direction, thereby enabling the two shovel claws 22 to swing towards or away from each other. The first fisheye joint 231 enables the two shovel claws 22 to move synchronously, with high synchronization.

[0035] Reference Figure 3Furthermore, each first suction cup holder 31 includes a transverse mounting member 311 and a first V-shaped curved arm 312 and a second V-shaped curved arm 313. One end of each of the first V-shaped curved arm 312 and the second V-shaped curved arm 313 is provided with a bearing and is hinged to the first connecting shaft 21 via the bearing. The first V-shaped curved arms 312 and the second V-shaped curved arms 313 are arranged parallel and symmetrically along the length of the first connecting shaft 21 and are located between the first hinge joint 222 and the second hinge joint 223. The two first V-shaped curved arms... The ends of the second V-shaped curved arm 313 away from the first connecting shaft 21 are connected to the transverse mounting member 311. The transverse mounting member 311 is parallel to the first connecting shaft 21. The first suction cup group includes two first suction cups 32, which are respectively installed at the two ends of the transverse mounting member 311. The bending part of the V-shaped curved arm avoids the shovel claw 22, which helps to reduce the tilt angle between the first suction cup frame 31 and the shovel claw 22, thereby reducing the driving stroke for the first suction cup frame 31 to swing.

[0036] Reference Figure 3 Furthermore, a first V-shaped curved arm 312 of one first suction cup holder 31 has a downwardly extending third connecting arm 314 at one end near the first connecting shaft 21, and a fourth connecting arm 315 is provided at one end of the first V-shaped curved arm 312 of the other first suction cup holder 31 near the first connecting shaft 21. The second drive assembly 33 includes a second fisheye connector 331 and a second telescopic cylinder 332. One end of the second fisheye connector 331 is hinged to the bottom end of the third connecting arm 314, and the other end of the second fisheye connector 331 is hinged to the middle of the fourth connecting arm 315. A second fixing block 122 is also provided on the bottom surface of the mounting base plate 12. Second protrusions 1221 are provided on both opposite sides of the second fixing block 122. A second U-shaped frame 33 is provided at the bottom end of the second telescopic cylinder 332. 21. The opposite side walls of the second U-shaped frame 3321 are provided with through holes matching the size of the second protrusion 1221. The second U-shaped frame 3321 is fitted onto the second fixing block 122 and the two second protrusions 1221 pass through the two through holes of the second U-shaped frame 3321 respectively to fix the second telescopic cylinder 332. The second telescopic cylinder 332 is placed horizontally and its telescopic shaft is hinged to the top of the fourth connecting arm 315. The telescopic rod of the second telescopic cylinder 332 extends and retracts, thereby driving the fourth connecting arm 315 to swing. The swing of the fourth connecting arm 315 drives the first V-shaped arm integrated with it to swing in the opposite direction. And through the second fisheye joint 331, it drives the third connecting arm 314 to swing in the opposite direction, thereby realizing that the two first suction cup frames 31 swing towards or away from each other.

[0037] Reference Figure 4Furthermore, each set of hooks 42 includes a first straight rod 421 and a second straight rod 422. One end of the first straight rod 421 and the second straight rod 422 are respectively connected and fixed to the two ends of the second connecting shaft 41 and are both located outside the L-shaped connecting piece 13. The first straight rod 421 and the second straight rod 422 are arranged in parallel and symmetrically, and the ends of the first straight rod 421 and the second straight rod 422 away from the second connecting shaft 41 are provided with barbs. The barbs are used to hook the tray. The arrangement of the two straight rods makes the support of the tray more stable. The first straight rod 421 of each set of hooks 421... Both the second straight rod 421 and the second straight rod 422 are provided with an upwardly extending fifth connecting arm 423 at one end near the second connecting shaft 41. The third drive assembly 43 includes a third telescopic cylinder 431, a sixth connecting arm 432, and two third fisheye joints 433. The two third fisheye joints 433 are respectively hinged to the two fifth connecting arms 423, and the ends of the two third fisheye joints 433 away from the fifth connecting arms 423 are respectively hinged to the first straight rod 421 and the second straight rod 422 of another set of hook assemblies 42. The two third fisheye joints 433 are arranged in parallel. The sixth connecting arm 422 is provided with an upwardly extending fifth connecting arm 423 at one end near the second connecting shaft 41. One end of the swing arm 432 is fixedly connected to a second connecting shaft 41. A third fixing block 123 is also provided on the bottom surface of the mounting base plate 12. Third protrusions 1231 are provided on both opposite sides of the third fixing block 123. A third U-shaped frame 4311 (not shown in the figure) is provided at the bottom end of the third telescopic cylinder 431. Through holes matching the size of the third protrusions 1231 are opened on both opposite side walls of the third U-shaped frame 4311. The third U-shaped frame 4311 is fitted onto the third fixing block 123, and the two third protrusions 1231 pass through the two through holes of the third U-shaped frame 4311 respectively. The third telescopic cylinder 431 is fixed by passing through the hole, and the second telescopic cylinder 332 is placed horizontally with its telescopic shaft hinged to the sixth connecting arm 432. The telescopic shaft of the second telescopic cylinder 332 extends and retracts, thereby pushing the sixth connecting arm 432 to swing. The swing of the sixth connecting arm 432 drives the second connecting shaft 41 connected to it to rotate. The rotation of the second connecting shaft 41 drives a set of hook groups 42 to swing. The third fisheye connector 433 links another set of hook groups 42, so that the two sets of hook groups 42 move towards each other or away from each other synchronously.

[0038] Reference Figure 5 Furthermore, the second suction cup frame 51 includes connecting strips 511 and crossbars 512. There are two connecting strips 511. One end of each connecting strip 511 is fixedly connected to the transverse portion of each of the two L-shaped connecting pieces 13. The two connecting strips 511 are connected to the crossbars 512 away from the L-shaped connecting pieces 13. The crossbars 512 are parallel to the second connecting shaft. The second suction cup assembly includes two second suction cups 52. The two second suction cups 52 are respectively installed at both ends of the second suction cup frame 51. The film is sucked up by the second suction cups 52.

[0039] Reference Figure 5Furthermore, the film suction mechanism 5 also includes a rotary cylinder 53. There are two rotary cylinders 53. Both rotary cylinders 53 are fixed on the horizontal bar 512 and arranged along the length of the horizontal bar 512 and located between the two second suction cups 52. A pressure rod 54 is provided on the drive shaft of the rotary cylinder 53. When the second suction cup 52 sucks up the film, the rotary cylinder 53 drives the pressure bar to swing, so that the pressure bar presses down on the film, making it less likely for the film to deviate when it is suctioned.

[0040] Reference Figure 3 The cardboard suction mechanism 3 also includes a fourth telescopic cylinder 34, which is located between the two first connecting shafts 21 and is vertically arranged. A fixing member 124 is also provided on the bottom surface of the mounting base plate 12. The fourth telescopic cylinder 34 is connected and fixed to the fixing member 124 and its telescopic shaft is arranged downward. A pressure block 341 is fixed on the telescopic shaft of the fourth telescopic cylinder 34. When the two shovels 22 scoop up the bag material, the pressure block 341 is driven by the fourth telescopic cylinder 34 to press down the bag material. The pressure block 341 cooperates with the horizontal part of the L-shaped plate 221 to clamp the bag material from the top and bottom, further making the gripping of the bag material more stable.

[0041] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A four-in-one robotic palletizing gripper, characterized in that, include: A connecting frame for connecting to the output end of the robot; A bag material clamping mechanism includes two first connecting shafts fixed on the connecting frame and arranged in parallel and symmetrical arrangement. Each first connecting shaft is hinged with a shovel claw. The two shovel claws are connected to a first driving component, which drives the two shovel claws to swing towards or away from each other. The cardboard suction mechanism includes two first suction cup frames, which are respectively hinged to two first connecting shafts. The two first suction cup frames are located on the outside of the two shovel claws. Each of the two first suction cup frames is provided with a first suction cup group at the end away from the first connecting shaft. The two first suction cup frames are connected to a second driving component. The second driving component drives the two first suction cup frames to swing towards or away from each other, so that the first suction cup groups on the two first suction cup frames are in a synchronous tilted or vertical state. The pallet gripping mechanism includes two second connecting shafts rotatably mounted on the connecting frame. The two second connecting shafts are located outside the two first connecting shafts, and the second connecting shafts are parallel to the first connecting shafts. Each second connecting shaft is provided with a hook group with the hook portion facing inward. The two hook groups are connected to a third driving component, which drives the two hook groups to swing towards or away from each other. A film suction mechanism, comprising a second suction cup frame fixed to the connecting frame and a second suction cup assembly disposed on the second suction cup frame, wherein the second suction cup frame is located outside one of the second connecting shafts.

2. The four-in-one robotic palletizing gripper according to claim 1, characterized in that: Each of the shovel claws includes an L-shaped plate and a first hinge joint and a second hinge joint respectively disposed at the top two ends of the L-shaped plate. The top ends of the first hinge joint and the second hinge joint are both hinged to the first connecting shaft. The horizontal portions of the L-shaped plates of the two shovel claws are arranged facing each other, and the horizontal portions of the L-shaped plates are provided with a plurality of through slots. The plurality of through slots are arranged along the width direction of the horizontal portions of the L-shaped plates to divide the horizontal portions of the L-shaped plates into a plurality of support strips.

3. The four-in-one robotic palletizing gripper according to claim 2, characterized in that: One of the shovel claws has a first hinge joint with a downwardly extending first connecting arm at its top end, and the other shovel claw has a second connecting arm with an upwardly extending top end of its first hinge joint. The first drive assembly includes a first fisheye joint and a first telescopic cylinder. One end of the first fisheye joint is hinged to the bottom end of the first connecting arm, and the other end of the first fisheye joint is hinged to the middle of the second connecting arm. The first telescopic cylinder is fixed on the connecting frame and is placed horizontally. The telescopic shaft of the first telescopic cylinder is hinged to the top end of the second connecting arm.

4. The four-in-one robotic palletizing gripper according to claim 1, characterized in that: Each of the first suction cup holders includes a transverse mounting component and a first V-shaped bend arm and a second V-shaped bend arm. One end of the first V-shaped bend arm and the second V-shaped bend arm are hinged to the first connecting shaft. The first V-shaped bend arm and the second V-shaped bend arm are arranged parallel and symmetrically along the length of the first connecting shaft. The ends of the two first V-shaped bend arms and the second V-shaped bend arms away from the first connecting shaft are connected to the transverse mounting component. The transverse mounting component is parallel to the first connecting shaft. The first suction cup group includes two first suction cups. The two first suction cups are respectively installed at the two ends of the transverse mounting component. The distance from the first suction cup to the first connecting shaft is greater than the distance from the bottom end of the scraper claw to the first connecting shaft.

5. A four-in-one robotic palletizing gripper according to claim 4, characterized in that: One of the first suction cup holders has a first V-shaped curved arm with a downwardly extending third connecting arm at one end near the first connecting shaft, and another first suction cup holder has a first V-shaped curved arm with an upwardly extending fourth connecting arm at one end near the first connecting shaft. The second drive assembly includes a second fisheye connector and a second telescopic cylinder. One end of the second fisheye connector is hinged to the bottom end of the third connecting arm, and the other end of the second fisheye connector is hinged to the middle of the fourth connecting arm. The second telescopic cylinder is fixed on the connecting frame and placed horizontally, and the telescopic shaft of the second telescopic cylinder is hinged to the top end of the fourth connecting arm.

6. The four-in-one robotic palletizing gripper according to claim 1, characterized in that: Each set of the swing hooks includes a first straight rod and a second straight rod. One end of the first straight rod and the second straight rod are respectively connected and fixed to the two ends of the second connecting shaft. The ends of the first straight rod and the second straight rod away from the second connecting shaft are provided with barbs.

7. A four-in-one robotic palletizing gripper according to claim 6, characterized in that: Each of the first and second straight rods of a set of hook assemblies is provided with an upwardly extending fifth connecting arm at one end near the second connecting shaft. The third drive assembly includes a third telescopic cylinder, a sixth connecting arm, and two third fisheye connectors. The two third fisheye connectors are respectively hinged to the two fifth connecting arms, and the ends of the two third fisheye connectors away from the fifth connecting arms are respectively hinged to the first and second straight rods of another set of hook assemblies. One end of the sixth connecting arm is fixedly connected to a second connecting shaft. The third telescopic cylinder is fixed on the connecting frame and placed horizontally. The telescopic shaft of the third telescopic cylinder is fixedly connected to the end of the sixth connecting arm away from the second connecting shaft.

8. The four-in-one robotic palletizing gripper according to claim 1, characterized in that: The second suction cup frame includes a connecting strip and a horizontal strip. One end of the connecting strip is connected to the connecting frame, and the horizontal strip is connected to the end of the connecting strip away from the connecting frame. The horizontal strip is parallel to the second connecting shaft. The second suction cup assembly includes two second suction cups, which are respectively installed at both ends of the second suction cup frame.

9. A four-in-one robotic palletizing gripper according to claim 1, characterized in that: The film suction mechanism also includes a rotary cylinder fixed on the second suction cup frame, and a pressure rod is provided on the drive shaft of the rotary cylinder.

10. A four-in-one robotic palletizing gripper according to claim 2, characterized in that: The cardboard suction mechanism further includes a fourth telescopic cylinder, which is located between the two first connecting shafts and is vertically arranged. The fourth telescopic cylinder is fixedly connected to the connecting frame and its telescopic shaft is arranged downward. A pressure block is fixed on the telescopic shaft of the fourth telescopic cylinder.

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