A multifunctional robot gripper and its working method for packing silk cakes

Abstract

This invention provides a multifunctional robotic gripper for packing shredded pork rolls. The multifunctional robotic gripper, characterized by its ability to move back and forth within a shredded pork roll packing production line via a robot, comprises: a moving mechanism, a gripping mechanism, and a suction mechanism. The gripping mechanism is connected to the end effector of the robot via the moving mechanism, and the suction mechanism is fixedly connected to the gripping mechanism, capable of vertical movement. The suction mechanism is used to pick up cardboard and shredded pork roll positioning plates, while the gripping mechanism is used to grip the shredded pork rolls. This multifunctional robotic gripper for packing shredded pork rolls can grip and stack both shredded pork rolls and cardboard and shredded pork roll positioning plates, significantly improving packing efficiency and reducing production costs.

Description

Technical Field

[0001] This invention relates to a packing equipment for chemical fiber filament cakes in the textile field, specifically to a multifunctional robot gripper and its working method for packing filament cakes. Background Technology

[0002] To ensure the appearance quality of the synthetic fiber cakes is not compromised, they must be free from defects such as dents, fuzz, lint, and contamination during the packing process. Therefore, the packing procedure is quite complex. After the carton is lined with a thin film bag, a bottom cardboard layer is placed first; then a layer of cake positioning plates is added before placing another cake, and so on, repeating this process for n layers. Finally, a top cardboard layer is added, and the film bag is closed and the carton is sealed. Due to the numerous steps, current cake packing is primarily done manually, or with multiple robots used for loading cakes, placing cardboard, and using positioning plates. Even with robots, the robot grippers can only accommodate cakes of the same size and a specific packing spacing. If the cake size or packing spacing changes, multiple robot grippers need to be designed and manufactured to match. Changing the cake size or packing spacing necessitates changing the robot grippers, resulting in high labor intensity, high costs, and low efficiency for workers on such production lines. Therefore, in order to improve the packing efficiency of chemical fiber filament cakes and the compatibility of the production line, it is necessary to develop a multi-functional robot gripper that can not only grab and stack filament cakes, but also grab and stack cardboard and filament cake positioning plates, and be compatible with filament cakes of different sizes and their packing arrangement spacing. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, a multifunctional robot gripper and its working method for packing silk cakes are provided.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A multi-functional robot gripper for packaging silk cakes, the multi-functional robot gripper moves back and forth on the silk cake packaging production line by the robot, including: a moving mechanism, a gripping mechanism (4) and a suction mechanism (5);

[0006] The gripping mechanism (4) is connected to the end of the robot through the moving mechanism, and the suction mechanism (5) is fixedly connected to the gripping mechanism (4). The suction mechanism (5) itself can move up and down.

[0007] The suction mechanism (5) is used to suction the cardboard (65) and the silk cake positioning plate (64), and the gripping mechanism (4) is used to grip the silk cake (6).

[0008] Preferably, the suction mechanism (5) includes: a cylinder (51), a cylinder mounting base (52), an air connector (53), and a suction cup (54);

[0009] The cylinder (51) is fixedly connected to the gripping mechanism (4) via the cylinder mounting seat (52);

[0010] The cylinder rod of the cylinder (51) is fixedly connected to one end of the air passage connector (53), and the other end of the air passage connector (53) is fixedly connected to the suction cup (54);

[0011] When the gripping mechanism (4) is working, the cylinder rod of the cylinder (51) retracts and the suction cup (56) is above the gripping mechanism (4). When the suction mechanism (5) is working, the cylinder rod of the cylinder (51) extends and the gripping mechanism (4) is above the suction cup (56).

[0012] Preferably, the gripping mechanism (4) includes: a pneumatic gripper connector (41), a pneumatic gripper (42), and a clamping jaw (43);

[0013] One end of the pneumatic gripper (42) is fixedly connected to one end of the pneumatic gripper connecting seat (41), and the other end of the pneumatic gripper (42) is fixedly connected to the gripper (43). The pneumatic gripper connecting seat (41) is a long rod-shaped structure, and the other end of the pneumatic gripper connecting seat (41) is fixedly connected to the moving mechanism. The cylinder (51) is fixedly connected to the long rod-shaped structure of the pneumatic gripper connecting seat (41) through the cylinder mounting seat (52).

[0014] Preferably, there are multiple gripping mechanisms (4), and the number and arrangement of the gripping mechanisms (4) are adapted to the number and arrangement of each layer of silk cakes (6) in the silk cake packaging.

[0015] Preferably, there are multiple sets of suction mechanisms (5), the number of suction mechanisms (5) is less than or equal to the number of gripping mechanisms (4), and the suction mechanisms (5) are symmetrically fixedly connected to some of the gripping mechanisms (4).

[0016] Preferably, the moving mechanism includes: a lateral moving mechanism (2) and a longitudinal moving mechanism (3); the multi-functional robot gripper for packing skewer cakes also includes: a support frame (1);

[0017] The support frame (1) is connected to the end of the robot; the longitudinal movement mechanism (3) is connected to the support frame (1); the lateral movement mechanism (2) is connected to the longitudinal movement mechanism (3); and the gripping mechanism (4) is connected to the lateral movement mechanism (2).

[0018] Preferably, the longitudinal moving mechanism (3) includes: multiple support plates (38) and two sets of first guide rail slider assemblies (39); each of the two sets of first guide rail slider assemblies (39) includes: a first linear guide rail and multiple first sliders;

[0019] The two sets of first linear guide rails are fixedly connected to the support frame (1), and the plurality of first sliders are slidably arranged on the first linear guide rails;

[0020] The support plate (38) is long and narrow. The middle support plate (38) is fixedly connected to the support frame (1), and the two ends of the two side support plates (38) are fixedly connected to the first slider.

[0021] Preferably, the longitudinal moving mechanism (3) further includes: a servo motor reducer (31), a reducer mounting base (32), a coupling (33), a left-hand and right-hand lead screw (34), a left-hand and right-hand nut (35), a fixed base (36), and a bearing base (37); the left-hand and right-hand nut (35) includes: a left-hand nut and a right-hand nut;

[0022] The reducer mounting base (32) and bearing housing (37) are respectively fixedly connected to the support frame (1);

[0023] The servo motor reducer (31) is mounted on the reducer mounting base (32). One end of the coupling (33) is connected to the shaft of the servo motor reducer (31), and the other end is connected to one end of the left and right helical screw (34). The other end of the left and right helical screw (34) is connected to the bearing seat (37).

[0024] The left and right screws (34) are long rods. The middle and two ends of the left and right screws (34) are optical axes. The left side of the middle optical axis is the left screw segment, and the right side is the right screw segment. The left screw nut is set on the left screw segment, and the right screw nut is set on the right screw segment. The middle optical axis passes through the fixed seat (36). The left and right screw nuts (35) are fixedly connected to the middle of the two side support plates (38). The fixed seat (36) is fixedly connected to the middle of the middle support plate (38).

[0025] Preferably, the lateral movement mechanism (2) includes: multiple sets of linkage mechanisms (23), multiple hollow mounting seats (24), multiple linkage fixing shafts (25), and multiple sets of second guide rail slider assemblies (26); each of the multiple sets of second guide rail slider assemblies (26) includes: a second linear guide rail and multiple second sliders;

[0026] The number of linkage mechanisms (23) matches the number of support plates (38). The linkage mechanism (23) has two sets of short linkages at both ends and multiple sets of long linkages in the middle, with the linkages being hinged together.

[0027] The connecting shaft in the middle of the linkage mechanism (23) is provided with a connecting rod fixing shaft (25). The connecting rod fixing shaft (25) is fixedly connected to the left and right turn nuts (35) or the fixing seat (36) of the longitudinal moving mechanism (3). The other connecting shafts of the linkage mechanism (23) are fixedly connected to the upper end of the mounting seat (24). The support plate (38) passes through the mounting seat (24). The lower end of the mounting seat (24) is fixedly connected to the pneumatic gripper connecting seat (41).

[0028] The second linear guide is fixedly connected to the lower surface of the support plate (38), and the plurality of second sliders are slidably disposed on the second linear guide. The plurality of second sliders are respectively fixedly connected to the mounting base (24).

[0029] Preferably, the lateral movement mechanism (2) further includes: a servo slide (21), a push plate (22), and a guide groove (27);

[0030] The servo slide (21) is connected to the support frame (1), and the servo slide (21) is connected to the push plate (22);

[0031] The outer longitudinal mounting base (24) is provided with the guide groove (27), and the push plate (22) is disposed in the guide groove (27). The guide groove (27) can slide along the push plate (22).

[0032] Preferably, the support frame (1) includes: a robot connecting plate (11), a connecting column (12), and a mounting bracket (13);

[0033] The robot connecting plate (11) is connected to the end of the robot; the mounting frame (13) is connected to the robot connecting plate (11) through the connecting column (12); the mounting frame (13) is a rectangular frame with a longitudinal beam in the middle, and the length of the rectangular frame is adapted to the length of the support plate (38);

[0034] The servo slide (21) is connected to the robot connecting plate (11), the reducer mounting base (32) and the bearing seat (37) are fixedly connected to both ends of the longitudinal beam; the two sets of first linear guide rails are respectively set on the two wide sides of the rectangular frame, and the two ends of the middle support plate (38) are respectively fixedly connected to the two wide sides of the rectangular frame.

[0035] Preferably, the silk cake packing production line includes: a silk cake packing station (62), a silk cake transport station, a cardboard transport station, and a silk cake positioning plate transport station;

[0036] The shredded cake packing station (62), shredded cake transport station, cardboard transport station and shredded cake positioning plate transport station are arranged around the multi-functional robot clamp;

[0037] The shredded cake packing station (62) transports the carton to the station, the shredded cake transport station transports the shredded cake (6) to the station, the cardboard transport station transports the cardboard (65) to the station, the shredded cake positioning plate transport station transports the shredded cake positioning plate (64) to the station, and the multi-functional robot starts working with the clamp.

[0038] A method for operating a multi-functional robotic gripper for packing silk cakes includes:

[0039] The robot is activated, driving a multi-functional robot to move back and forth on the silk cake packaging production line using grippers;

[0040] Upon arrival at the workstation, the suction mechanism (5) fixedly connected to the gripping mechanism (4) is activated, and the suction mechanism (5) moves downward to pick up the cardboard (65).

[0041] Start the moving mechanism to adjust the spacing, start the suction mechanism (5) fixedly connected to the gripping mechanism (4), and the suction mechanism (5) moves downward to suck up the silk cake positioning plate (64);

[0042] Start the moving mechanism to adjust the spacing, start the suction mechanism (5) fixedly connected to the gripping mechanism (4), the suction mechanism (5) moves upward, and start the gripping mechanism (4) to grab a layer of silk cake (6).

[0043] Preferably, after reaching the workstation, the suction mechanism (5) fixedly connected to the gripping mechanism (4) is activated, and the suction mechanism (5) moves downward to suction the cardboard (65), including:

[0044] Start the cylinder (51) of the suction mechanism (5), the cylinder rod of the cylinder (51) extends, and the suction cup (54) of the suction mechanism (5) is located below the gripper (43) of the gripping mechanism (4); start the suction cup (54) to pick up the cardboard (65) and put it into the bottom of the carton.

[0045] Preferably, the starting moving mechanism adjusts the spacing and starts the suction mechanism (5) fixedly connected to the gripping mechanism (4). The suction mechanism (5) moves downward to suction the silk cake positioning plate (64), including:

[0046] Start the longitudinal moving mechanism (3) of the moving mechanism to move longitudinally, and start the servo motor reducer (31) of the longitudinal moving mechanism (3) to drive the support plate (38) of the longitudinal moving mechanism (3) to move on the first linear guide rail of the longitudinal moving mechanism (3);

[0047] The lateral moving mechanism (2) of the moving mechanism is started to move laterally. The servo slide (21) of the lateral moving mechanism (2) is started to push the linkage mechanism (23) of the lateral moving mechanism (2) through the push plate (22) of the lateral moving mechanism (2), thereby driving the suction mechanism to adjust the spacing.

[0048] Start the cylinder (51), the cylinder rod of the cylinder (51) extends, and the suction cup (54) is located below the gripper (43); start the suction cup (54) to pick up the silk cake positioning plate (64) and put it into the carton.

[0049] Preferably, the starting moving mechanism adjusts the spacing, starts the suction mechanism (5) fixedly connected to the gripping mechanism (4), the suction mechanism (5) moves upward, and starts the gripping mechanism (4) to grip a layer of silk cake (6), including:

[0050] The servo motor reducer (31) is started to drive the support plate (38) to move on the first linear guide rail;

[0051] The servo slide (21) is activated, which pushes the linkage mechanism (23) of the transverse moving mechanism (2) through the push plate (22) to move the mounting base (24), and the spacing of the gripping mechanism (4) is adjusted through the mounting base (24);

[0052] When the gripping mechanism (4) is working, the cylinder rod of the cylinder (51) is in the retracted state, the suction cup (54) is located above the gripper (43), and the gripper (42) of the gripping mechanism (4) is activated to drive the gripper (43) to grab a layer of silk cake (6) and put it into the carton.

[0053] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0054] (1) A multifunctional robot gripper for packing shredded pork cakes, wherein the multifunctional robot gripper moves back and forth on a shredded pork cake packing production line via a robot, comprising: a moving mechanism, a gripping mechanism, and a suction mechanism; the gripping mechanism is connected to the end effector of the robot via the moving mechanism, and the suction mechanism is fixedly connected to the gripping mechanism, and the suction mechanism itself can move up and down; the suction mechanism is used to suction cardboard and shredded pork cake positioning plate, and the gripping mechanism is used to grip the shredded pork cake. This multifunctional robot gripper for packing shredded pork cakes can grip and stack shredded pork cakes, as well as grip and stack cardboard and shredded pork cake positioning plate, greatly improving packing efficiency and reducing production costs.

[0055] (2) The multifunctional robot can grip and stack silk cakes, as well as cardboard and silk cake positioning plates. It can also grip one layer of silk cakes from the conveyor line at the same time each time. During the movement of the gripper, the horizontal and vertical displacement between each silk cake can be realized to adapt to the spacing of the silk cake packing arrangement.

[0056] (3) This gripper can perform a variety of gripping and stacking tasks, greatly improving packing efficiency and reducing production costs. The gripper's lateral and longitudinal movement mechanisms are both servo-controlled, with a compact structure, precise displacement, and reliable operation. This gripper is compatible with different sizes of yarn cakes and their packing spacing, and has strong versatility. Attached Figure Description

[0057] Figure 1 This is a general drawing of the multifunctional robot gripper described in this invention;

[0058] Figure 2 for Figure 1 A schematic diagram of the support frame for the robot gripper shown.

[0059] Figure 3 for Figure 1 A schematic diagram of the lateral movement mechanism of the robot gripper shown.

[0060] Figure 4 for Figure 1 A schematic diagram of the longitudinal movement mechanism of the robot gripper shown;

[0061] Figure 5 for Figure 1 The diagram shows the gripping mechanism of the robot's clamp.

[0062] Figure 6 for Figure 1 The diagram shows the suction mechanism of the robot gripper.

[0063] Figure 7 for Figure 1 The diagram shows an application example of a robot gripper.

[0064] In the diagram, the components are numbered as follows: 1. Support frame; 2. Lateral movement mechanism; 3. Longitudinal movement mechanism; 4. Gripping mechanism; 5. Suction mechanism; 6. Silk cake; 11. Robot connecting plate; 12. Connecting column; 13. Mounting bracket; 21. Servo slide; 22. Push plate; 23. Linkage mechanism; 24. Mounting base; 25. Linkage fixed shaft; 26. Second guide rail slider assembly; 27. Guide groove; 31. Servo motor reducer; 32. Reducer mounting base; 33. Coupling; 34. Left and right. 35. Lead screw; 36. Left and right turn nut; 37. Fixed seat; 38. Bearing seat; 39. Support plate; 30. First guide rail slider assembly; 41. Pneumatic gripper connecting seat; 42. Pneumatic gripper; 43. Gripper; 51. Cylinder; 52. Cylinder mounting seat; 53. Air circuit connector; 54. Suction cup; 61. Empty carton; 62. Silk cake packing station; 63. Silk cake transport line; 64. Silk cake positioning plate; 65. Cardboard; 66. Multifunctional robot gripper; 67. Robot arm extension range. Detailed Implementation

[0065] The following examples further illustrate specific embodiments of the present invention, but the present invention is not limited to these examples.

[0066] Example 1:

[0067] To address the shortcomings of the existing technology, the present invention aims to provide a multifunctional robot gripper and its working method for packing silk cakes, such as... Figure 1 As shown, it can not only grab and stack silk cakes, but also grab and stack cardboard 65 and silk cake positioning plate 64.

[0068] like Figure 1As shown, the present invention provides a multifunctional robot gripper 66 for packing shredded cakes, which mainly includes a support frame 1, a lateral movement mechanism 2, a longitudinal movement mechanism 3, a gripping mechanism 4, and a suction mechanism 5. The support frame 1 is installed at the end of the robot; the longitudinal moving mechanism 3 is installed on the mounting bracket 13 of the support frame 1 via the first linear guide rail; the transverse moving mechanism 2 is installed on the support plate 38 of the longitudinal moving mechanism 3 via the second linear guide rail; 12 sets of gripping mechanisms 4 are respectively installed on the mounting base 24 of the transverse moving mechanism 2, and the gripping mechanism 4 and the mounting base 24 are in a one-to-one correspondence. Their number and arrangement are consistent with the number and arrangement of each layer of silk cake 6 during packing. In this case, there are 12 silk cakes per layer, arranged in 3 rows and 4 columns; 4 sets of suction mechanisms 5 are symmetrically fixed on the pneumatic gripper connecting base 41 of the gripping mechanism 4. In this case, there are 4 sets of suction mechanisms 5, symmetrically installed on the gripping mechanisms 4 at the 4 corners; the robot clamp of the present invention is installed at the end of the robot via the support frame 1. The robot drives the entire robot clamp to move between the silk cake packing production line. The robot drives the robot clamp to move up and down for gripping and stacking silk cakes and gripping and stacking cardboard 65 and silk cake positioning plate 64.

[0069] like Figure 2 As shown, the support frame 1 includes a robot connecting plate 11, connecting columns 12, and a mounting frame 13. The robot connecting plate 11 is connected to the robot end effector and is used to mount the servo slide 21 of the lateral movement mechanism 2. The main body of the mounting frame 13 is welded from rectangular tubing into a rectangular frame with a longitudinal beam in the middle. The upper surface is welded with positioning and connecting parts for the longitudinal movement mechanism 3, which is used to mount the longitudinal movement mechanism 3. Four connecting columns 12 connect the robot connecting plate 11 and the mounting frame 13 into a whole, and the space between the robot connecting plate 11 and the mounting frame 13 is used to mount the longitudinal movement mechanism 3 and the lateral movement mechanism 2.

[0070] like Figure 3As shown, the lateral movement mechanism 2 includes a servo slide 21, a push plate 22, a linkage mechanism 23, a mounting base 24, a linkage fixing shaft 25, a second guide rail slider assembly 26, and a guide groove 27. The lateral moving mechanism 2 is fixed to the support plate 38 of the longitudinal moving mechanism 3 by multiple sets of second linear guide rails; the servo slide 21 is fixed to the robot connecting plate 11; the push plate 22 is connected to the servo slide 21, and the servo slide 21 drives the ends of multiple sets of linkage mechanisms 23 to extend and retract horizontally through the push plate 22; the two ends of the linkage mechanism 23 are two sets of short linkages, and multiple sets of long linkages are arranged in the middle, with the linkages hinged together; the hinge shaft in the middle of each linkage mechanism is the linkage fixing shaft 24, which is fixedly installed on the left and right rotating nuts 35 or the fixing seat 36 of the longitudinal moving mechanism 3; each set of mounting seats 24 is arranged at equal intervals, fixed to other hinge shafts of the linkage, and connected to the second slider, and can move with the second slider; one set of outer longitudinal mounting seats 24 is equipped with a guide groove 27, and the push plate 22 is in this set of guide grooves 27, and the guide groove 27 can move along the push plate 22. When the lateral moving mechanism 2 is started, with the connecting rod fixed shaft 25 in the middle of the connecting rod as the reference, each group of connecting rod mechanisms 23 extends and retracts horizontally, and drives the mounting seats 24 in the same group to change at equal intervals.

[0071] like Figure 4 As shown, the longitudinal moving mechanism 3 includes a servo motor reducer 31, a reducer mounting base 32, a coupling 33, left and right helical screws 34, left and right helical nuts 35, a fixed base 36, a bearing seat 37, a support plate 38, and a first guide rail slider assembly 39. The longitudinal moving mechanism 3 is fixed to the mounting bracket 13 of the support frame 1 via the first linear guide rail 39, the reducer mounting base 32, and the bearing seat 37; the coupling 33 connects the shaft of the servo motor reducer 31 and the left and right helical screws 34; the middle section of the left and right helical screws 34 is a smooth shaft, the left side adjacent to the smooth shaft is a left-hand helical screw section, and the right side is a right-hand helical screw section, and the pitch of the left and right helical screw sections is the same, only the direction of rotation is different. The two ends of the left and right helical screws are smooth shaft sections, one end is connected to the coupling 33, and the other end is connected to the bearing seat 37; the left and right helical nuts 35 include: Left-handed and right-handed nuts are respectively matched with left-handed and right-handed lead screws. The left-handed nuts are distributed on the left-handed lead screw section and fixed on the left-handed support plate 38, while the right-handed nuts are distributed on the right-handed lead screw section and fixed on the right-handed support plate 38, and the two are symmetrically distributed. There are multiple support plates 38. The middle support plate 38 is fixed on the mounting bracket 13, and the two side support plates 38 are connected to the first slider and can move with the first slider. The fixing seat 36 is installed in the center of the middle support plate 38. The fixing seat 36 has a smooth hole in the middle, through which the left-handed and right-handed lead screws 34 pass. When the longitudinal moving mechanism 2 is started, with the middle support plate 38 as the reference, the two side support plates 38 converge toward or move away from the middle support plate 38.

[0072] like Figure 5As shown, the gripping mechanism 4 includes a pneumatic gripper connecting seat 41, a pneumatic gripper 42, and a clamping jaw 43. The pneumatic gripper connecting seat 41 is mounted on the mounting seat 24 of the transverse moving mechanism 2 and can move with the mounting seat 24. The length of the pneumatic gripper connecting seat 41 is determined according to the packing depth. The pneumatic gripper 42 is the power source and is threadedly connected to the pneumatic gripper connecting seat 41. The clamping jaw 43 is used to grip the inner wall of the paper tube of the silk cake 6. It is threadedly connected to the pneumatic gripper 42. The pneumatic gripper 42 includes two movable fingers, and the clamping jaw 43 is fixedly connected to the two movable fingers. The pneumatic gripper 42 itself is the power source of the gripping mechanism. It controls the opening and closing of its own fingers through the air circuit, thereby driving the clamping jaw fixed to the pneumatic gripper fingers to open and close. The maximum diameter of the clamping jaw 43 is smaller than the inner wall of the paper tube of the silk cake. After extending into the inner wall of the paper tube, it grips the silk cake. The gripping device is mainly used to grip the entire layer of silk cakes each time during packing. Therefore, the number and arrangement of the gripping mechanism 4 are consistent with the number and arrangement of each layer of silk cakes 6 during packing.

[0073] like Figure 6 As shown, the suction mechanism 5 includes: a cylinder 51, a cylinder mounting base 52, an air connector 53, and a suction cup 54. The suction mechanism 5 is mainly used to suction the cardboard 65 and the silk cake positioning plate 64. Therefore, to ensure stable suction, multiple suction mechanisms 5 are arranged symmetrically. The suction mechanism 5 itself can move up and down via the cylinder 51, and the cylinder rod of the cylinder 51 is connected to the suction cup 54 via the air connector 53. When the gripping mechanism 4 is working, the cylinder rod of the cylinder 51 is in the retracted state, and the suction cup 54 is above the gripper 43, not affecting the silk cake packaging. When the suction mechanism 5 is working, the cylinder rod of the cylinder 51 is in the extended state, and the suction cup 54 is below the gripper 43, so the gripper 43 does not affect the silk cake packaging. The suction cup 54 picks up the cardboard 65 and the silk cake positioning plate 64. The suction cup is a vacuum suction cup, and the suction and release of the suction cup are controlled by controlling the inflation and deflation of the air. The cylinder mounting base 52 includes a ring with a diameter that matches the diameter of the rod-shaped structure of the gripper connecting seat 41. The cylinder mounting base 52 is fixedly connected to the rod-shaped structure of the gripper connecting seat 41 through the ring. The length of the cylinder 51 is less than that of the gripper connecting seat 41. The cylinder mounting base 52 is installed at the end of the gripper connecting seat 41 near the gripper 42. The length of the cylinder 51 on the cylinder mounting base 52 is less than that of the gripper connecting seat 41.

[0074] The present invention can achieve the following beneficial effects by adopting the above technical solution: the multifunctional robot gripper 66 for packing shredded cakes can not only grab and stack shredded cakes, but also grab and stack cardboard 65 and shredded cake positioning plate 64. Moreover, it can grab one layer of shredded cakes from the conveyor line at the same time each time. During the movement of the gripper, the lateral and longitudinal displacement between each shredded cake can be realized to adapt to the spacing of the shredded cake packing arrangement.

[0075] This gripper can perform various gripping and stacking tasks, greatly improving packing efficiency and reducing production costs. Both the lateral and longitudinal movement mechanisms of the gripper are servo-controlled, featuring a compact structure, precise displacement, and reliable operation. The gripper is compatible with different sizes of yarn cakes and their packing spacing, demonstrating strong versatility.

[0076] Example 2

[0077] like Figure 7 As shown, in this embodiment, the multifunctional robot gripper 66 of the present invention is mounted on the robot body via a robot connecting plate. The robot gripper moves between the silk cake positioning plate 64, the silk cake, the cardboard 65 and the empty carton 61 as the robot body moves.

[0078] Preliminary preparation stage: After the chemical fiber filament cakes are grouped, they are sequentially transported to the gripping station from the two middle filament cake conveyor lines at the front of the robot; 61 empty cardboard boxes are then placed in film bags and transported to the filament cake packing station 62 from the side conveyor lines of the robot; 65 cardboard boxes are transported to the suction station from the middle conveyor line at the rear of the robot; and 64 filament cake positioning plates are transported to the suction station from the two side conveyor lines at the rear of the robot.

[0079] A working method for a multi-functional robot gripper 66 used for packing silk cakes:

[0080] After preparation, the robot moves with its gripper above the cardboard 65. The robot extends downwards, activating the suction mechanism. Cylinder 51 starts working, extending its cylinder rod. Suction cup 54 is positioned below gripper 42, and the suction mechanism picks up the cardboard 65. To ensure stable suction, the suction mechanism is symmetrically positioned. The robot retracts and moves, placing the cardboard 65 into the empty cardboard box 61. The robot retracts again, then moves above the silk cake positioning plate 64. The lateral movement mechanism 2 and the longitudinal movement mechanism 3 adjust their spacing. The suction mechanism picks up the silk cake positioning plate 64 and places it into the empty cardboard box 61. The robot retracts again. The robot moves above the silk roll. Through adjustments to the lateral movement mechanism 2 and the longitudinal movement mechanism 3, the gripper 43 of the grasping mechanism 4 aligns with the inner wall of the paper tube containing the silk roll. Because it grasps the inner wall of the paper tube, there are few restrictions on the size of the silk roll. The spacing can also be adjusted using the lateral movement mechanism 2 and the longitudinal movement mechanism 3. After aligning with the inner wall of the paper tube, the gripper 43 clamps the inner wall, and the robot moves it back into the carton. Through adjustments to the lateral movement mechanism 2 and the longitudinal movement mechanism 3, it completes positioning with the silk roll positioning plate 64, places the silk roll down, and then repeats the action of picking up one layer of silk roll positioning plate 64 and picking up one layer of silk roll until the carton is full. Finally, another layer of cardboard 65 is picked up and placed into the carton. This completes one work cycle of the silk roll packing station 62.

[0081] Packing Stage: The multi-functional robot uses gripper 66 to first activate suction mechanism 5 to pick up a layer of cardboard 65 and place it at the bottom of the carton. Then, after adjusting the spacing of suction mechanism 5, it picks up a layer of silk cake positioning plate 64 and places it into the carton. Next, it activates gripping mechanism 4, adjusts the spacing of the 12 gripping mechanisms 4, and picks up 12 silk cakes 6 at a time from the silk cake conveyor line. It then adjusts the spacing to fit the silk cake positioning plate 64 and places a layer of 12 silk cakes onto the silk cake positioning plate 64 inside the carton. Then, it repeats the action of picking up a layer of silk cake positioning plate 64 and picking up a layer of silk cake 6 until the carton is full. Finally, it picks up another layer of cardboard 65 and places it into the carton. This completes one work cycle of silk cake packing station 62.

[0082] Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0083] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0084] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0085] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of the claims of the pending application of the present invention.

Claims

1. A multi-functional robot gripper for packing silk cakes, characterized in that, The multi-functional robot gripper moves back and forth on the skewer boxing production line via the robot, including: a support frame (1), a moving mechanism, a gripping mechanism (4), and a suction mechanism (5). The gripping mechanism (4) is connected to the end of the robot through the moving mechanism, and the suction mechanism (5) is fixedly connected to the gripping mechanism (4). The suction mechanism (5) itself can move up and down. The suction mechanism (5) is used to suction the cardboard (65) and the silk cake positioning plate (64), and the gripping mechanism (4) is used to grip the silk cake (6). The suction mechanism (5) includes: a cylinder (51), a cylinder mounting base (52), an air connector (53), and a suction cup (54); the cylinder (51) is fixedly connected to the gripping mechanism (4) through the cylinder mounting base (52); the cylinder rod of the cylinder (51) is fixedly connected to one end of the air connector (53), and the other end of the air connector (53) is fixedly connected to the suction cup (54); When the gripping mechanism (4) is working, the cylinder rod of the cylinder (51) retracts and the suction cup (54) is above the gripping mechanism (4). When the suction mechanism (5) is working, the cylinder rod of the cylinder (51) extends and the gripping mechanism (4) is above the suction cup (54). The moving mechanism includes: a lateral moving mechanism (2) and a longitudinal moving mechanism (3); the support frame (1) is connected to the end of the robot; the longitudinal moving mechanism (3) is connected to the support frame (1); the lateral moving mechanism (2) is connected to the longitudinal moving mechanism (3); and the gripping mechanism (4) is connected to the lateral moving mechanism (2). The longitudinal moving mechanism (3) includes: multiple support plates (38) and two sets of first guide rail slider assemblies (39); each of the two sets of first guide rail slider assemblies (39) includes: a first linear guide rail and multiple first sliders; the two sets of first linear guide rails are fixedly connected to the support frame (1), and the multiple first sliders are slidably arranged on the first linear guide rail; the support plate (38) is long and narrow, the middle support plate (38) is fixedly connected to the support frame (1), and the two ends of the support plates (38) on both sides are fixedly connected to the first sliders; when the longitudinal moving mechanism (2) is started, with the middle support plate (38) as the reference, the support plates (38) on both sides converge toward or move away from the middle support plate (38); The lateral movement mechanism (2) includes: multiple sets of linkage mechanisms (23), multiple hollow mounting seats (24), and multiple linkage fixing shafts (25); the number of linkage mechanisms (23) matches the number of support plates (38), and the hinge shaft in the middle of the linkage mechanism (23) is provided with a linkage fixing shaft (25); when the lateral movement mechanism (2) is started, with the linkage fixing shaft (25) as the reference, each set of linkage mechanisms (23) extends and retracts horizontally, and drives the mounting seats (24) in the same set to change at equal intervals; The silk cake packing production line includes: silk cake packing station (62), silk cake transportation station, cardboard transportation station and silk cake positioning plate transportation station; The shredded cake packing station (62), shredded cake transport station, cardboard transport station and shredded cake positioning plate transport station are arranged around the multi-functional robot clamp; The shredded cake packing station (62) transports the carton to the station, the shredded cake transport station transports the shredded cake (6) to the station, the cardboard transport station transports the cardboard (65) to the station, the shredded cake positioning plate transport station transports the shredded cake positioning plate (64) to the station, and the multi-functional robot starts working with the clamp.

2. The multi-functional robot gripper for packing silk cakes as described in claim 1, characterized in that, The gripping mechanism (4) includes: a gripper connector (41), a gripper (42), and a clamping jaw (43); One end of the pneumatic gripper (42) is fixedly connected to one end of the pneumatic gripper connecting seat (41), and the other end of the pneumatic gripper (42) is fixedly connected to the gripper (43). The pneumatic gripper connecting seat (41) is a long rod-shaped structure, and the other end of the pneumatic gripper connecting seat (41) is fixedly connected to the moving mechanism. The cylinder (51) is fixedly connected to the long rod-shaped structure of the pneumatic gripper connecting seat (41) through the cylinder mounting seat (52).

3. The multi-functional robot gripper for packing silk cakes as described in claim 1, characterized in that, The gripping mechanism (4) consists of multiple sets, and the number and arrangement of the gripping mechanism (4) are adapted to the number and arrangement of each layer of silk cakes (6) in the silk cake box.

4. A multi-functional robot gripper for packing silk cakes as described in claim 3, characterized in that, The suction mechanism (5) consists of multiple sets, and the number of suction mechanisms (5) is less than or equal to the number of gripping mechanisms (4). The suction mechanism (5) is symmetrically fixedly connected to some of the gripping mechanisms (4).

5. A multi-functional robot gripper for packing silk cakes as described in claim 2, characterized in that, The longitudinal moving mechanism (3) further includes: a servo motor reducer (31), a reducer mounting base (32), a coupling (33), a left-hand and right-hand lead screw (34), a left-hand and right-hand nut (35), a fixed base (36), and a bearing base (37); the left-hand and right-hand nut (35) includes: a left-hand nut and a right-hand nut; The reducer mounting base (32) and bearing housing (37) are respectively fixedly connected to the support frame (1); The servo motor reducer (31) is mounted on the reducer mounting base (32). One end of the coupling (33) is connected to the shaft of the servo motor reducer (31), and the other end is connected to one end of the left and right helical screw (34). The other end of the left and right helical screw (34) is connected to the bearing seat (37). The left and right screws (34) are long rods. The middle and two ends of the left and right screws (34) are optical axes. The left side of the middle optical axis is the left screw segment, and the right side is the right screw segment. The left screw nut is set on the left screw segment, and the right screw nut is set on the right screw segment. The middle optical axis passes through the fixed seat (36). The left and right screw nuts (35) are fixedly connected to the middle of the support plates (38) on both sides. The fixed seat (36) is fixedly connected to the middle of the support plate (38).

6. A multi-functional robot gripper for packing silk cakes as described in claim 5, characterized in that, The lateral movement mechanism (2) further includes: multiple sets of second guide rail slider assemblies (26); each set of second guide rail slider assemblies (26) includes: a second linear guide rail and multiple second sliders; The linkage mechanism (23) has two sets of short links at both ends and multiple sets of long links in the middle, with the links being hinged together. The connecting rod fixing shaft (25) is fixedly connected to the left and right turn nuts (35) or the fixing seat (36) of the longitudinal moving mechanism (3), the other hinge shafts of the connecting rod mechanism (23) are fixedly connected to the upper end of the mounting seat (24), the support plate (38) passes through the mounting seat (24), and the lower end of the mounting seat (24) is fixedly connected to the pneumatic gripper connecting seat (41). The second linear guide is fixedly connected to the lower surface of the support plate (38), and the plurality of second sliders are slidably disposed on the second linear guide. The plurality of second sliders are respectively fixedly connected to the mounting base (24).

7. A multi-functional robot gripper for packing silk cakes as described in claim 6, characterized in that, The lateral movement mechanism (2) further includes: a servo slide (21), a push plate (22), and a guide groove (27). The servo slide (21) is connected to the support frame (1), and the servo slide (21) is connected to the push plate (22); The outer longitudinal mounting base (24) is provided with the guide groove (27), and the push plate (22) is disposed in the guide groove (27). The guide groove (27) can slide along the push plate (22).

8. A multi-functional robot gripper for packing silk cakes as described in claim 7, characterized in that, The support frame (1) includes: robot connecting plate (11), connecting column (12) and mounting bracket (13); The robot connecting plate (11) is connected to the end of the robot; the mounting frame (13) is connected to the robot connecting plate (11) through the connecting column (12); the mounting frame (13) is a rectangular frame with a longitudinal beam in the middle, and the length of the rectangular frame is adapted to the length of the support plate (38); The servo slide (21) is connected to the robot connecting plate (11), the reducer mounting base (32) and the bearing seat (37) are fixedly connected to both ends of the longitudinal beam; the two sets of first linear guide rails are respectively set on the two wide sides of the rectangular frame, and the two ends of the support plate (38) in the middle are respectively fixedly connected to the two wide sides of the rectangular frame.

9. A method for operating a multifunctional robot gripper for packing silk cakes as described in any one of claims 1 to 8, characterized in that, include: The robot is activated, driving a multi-functional robot to move back and forth on the silk cake packaging production line using grippers; Upon reaching the workstation, the suction mechanism (5) fixedly connected to the gripping mechanism (4) is activated, and the suction mechanism (5) moves downward to pick up the cardboard (65). Start the moving mechanism to adjust the spacing, start the suction mechanism (5) fixedly connected to the gripping mechanism (4), and the suction mechanism (5) moves downward to suck up the silk cake positioning plate (64). Start the moving mechanism to adjust the spacing, start the suction mechanism (5) fixedly connected to the gripping mechanism (4), the suction mechanism (5) moves upward, and start the gripping mechanism (4) to grab a layer of silk cake (6).

10. The working method of a multifunctional robot gripper for packing silk cakes as described in claim 9, characterized in that, Upon reaching the workstation, the suction mechanism (5) fixedly connected to the gripping mechanism (4) is activated. The suction mechanism (5) moves downward to pick up the cardboard (65), including: Start the cylinder (51) of the suction mechanism (5), the cylinder rod of the cylinder (51) extends, and the suction cup (54) of the suction mechanism (5) is located below the gripper (43) of the gripping mechanism (4); start the suction cup (54) to pick up the cardboard (65) and put it into the bottom of the carton.

11. The working method of a multifunctional robot gripper for packing silk cakes as described in claim 10, characterized in that, The starting and moving mechanism adjusts the spacing and starts the suction mechanism (5) fixedly connected to the gripping mechanism (4). The suction mechanism (5) moves downward to suction the silk cake positioning plate (64), including: Start the longitudinal moving mechanism (3) of the moving mechanism to move longitudinally, and start the servo motor reducer (31) of the longitudinal moving mechanism (3) to drive the support plate (38) of the longitudinal moving mechanism (3) to move on the first linear guide rail of the longitudinal moving mechanism (3); The lateral moving mechanism (2) of the moving mechanism is started to move laterally. The servo slide (21) of the lateral moving mechanism (2) is started to push the linkage mechanism (23) of the lateral moving mechanism (2) through the push plate (22) of the lateral moving mechanism (2), thereby driving the suction mechanism to adjust the spacing. Start the cylinder (51), the cylinder rod of the cylinder (51) extends, and the suction cup (54) is located below the gripper (43); start the suction cup (54) to pick up the silk cake positioning plate (64) and put it into the carton.

12. The working method of a multifunctional robot gripper for packing silk cakes as described in claim 11, characterized in that, The starting moving mechanism adjusts the spacing, starts the suction mechanism (5) fixedly connected to the gripping mechanism (4), the suction mechanism (5) moves upward, and starts the gripping mechanism (4) to grip a layer of silk cake (6), including: The servo motor reducer (31) is started to drive the support plate (38) to move on the first linear guide rail; The servo slide (21) is activated and pushes the linkage mechanism (23) of the transverse moving mechanism (2) through the push plate (22), which in turn drives the mounting base (24) to move. The spacing of the gripping mechanism (4) is adjusted through the mounting base (24). When the gripping mechanism (4) is working, the cylinder rod of the cylinder (51) is in the retracted state, the suction cup (54) is located above the gripper (43), and the gripper (42) of the gripping mechanism (4) is activated to drive the gripper (43) to grab a layer of silk cake (6) and put it into the carton.

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