Gripper for a sack robot

Abstract

The present invention relates to the technical field of bag palletizing equipment for packaging machines; a gripper for a bag palletizing robot, comprising a gripper housing, a swing rod, a swing shaft, a swing rod driver, and a claw rod mechanism; the claw rod mechanism consists of an upper claw rod, an upper sliding chain, a lower claw rod, a lower sliding chain, and a sprocket; the upper sliding chain is installed on the upper claw rod through the sprocket, and the lower sliding chain is installed on the lower claw rod through the sprocket; by arranging the upper sliding chain and the lower sliding chain alternately on the claw rod, the present invention avoids the direct contact and friction of the load-bearing structure of the claw rod with the product, thereby reducing the possibility of product breakage during bag palletizing, and through the arc-shaped claw rod design, the claw rod does not occupy the side space of the product when grasping and releasing the product, enabling the gripper to release the product without throwing action, and improving the applicability of the bag palletizing robot in different environments.

Description

Technical Field:

[0001] The present invention relates to the technical field of bag - coding equipment for packaging machines. Background Art:

[0002] The bag - coding robot usually consists of a gripper mechanism and a robotic arm that drives the gripper mechanism, and is used to stack the products completed by sub - packaging neatly in sequence, so as to facilitate subsequent transfer or whole - package packaging operations.

[0003] Most of the existing grippers of bag - coding robots adopt a grasping method in which a solid and straight claw rod directly extends under the product to be picked under the drive of a driver. Only simple rounding treatment is carried out on the surface of the claw rod. When the claw rod extends under the product to be picked, it needs to occupy the space on both sides of the product to be picked, and a channel for the claw rod to extend is also required under the product. Although this scheme is simple and feasible, it has many defects: 1. Although the claw rod has simple rounding treatment to prevent the structure from hooking the product packaging bag, its surface still wears the packaging bag. Especially after being used to carry products with harder contents, the surface pits, burrs and other defects caused by its collision with the contents are likely to damage the packaging bag and cause the packaging bag to be damaged, affecting the quality control of the packaged products; 2. When the claw rod extends under the product to be picked, it needs to occupy the space on both sides of the product to be picked, and a channel for the claw rod to extend is also required under the product, seriously affecting the adaptability of the bag - coding robot to different occasions, resulting in that it can only pick products from a fixed platform with a matching design, and when releasing the products, it cannot be close to the stacked products for release, and its release action has a throwing process, which is not suitable for the packaging and handling process of vulnerable parts. Summary of the Invention:

[0004] In view of this, it is necessary to design a gripper for a bag - coding robot that eliminates the wear between the claw rod and the product in a relative rotation manner, can pick products without the cooperation of a fixed platform, can be close to the stacked products for release when releasing products, and has no throwing action.

[0005] The gripper for a bag - coding robot includes a gripper housing, swing rods, swing shafts, swing - rod drivers and claw - rod mechanisms; wherein, the gripper housing is installed at the end of the robotic arm of the bag - coding robot; there are multiple claw - rod mechanisms, and each claw - rod mechanism is fixedly connected to the outer end of at least one swing rod. The inner end of the swing rod is fixedly connected to the swing shaft and is hinged in the gripper housing through the swing shaft; there are two swing shafts, which are respectively installed in the middle of the gripper housing from left to right. The swing shafts extend to the edge of the gripper housing and install swing - rod drivers; a plurality of claw - rod holes are opened on the lower surface of the gripper housing, and the outer end of the claw - rod mechanism extends out of the claw - rod holes, and the inner end of the claw - rod mechanism is connected to the swing rod; the claw - rod mechanism is arc - shaped, and the center of its arc is located at the swing shaft. The claw - rod mechanism realizes telescoping outside the claw - rod hole with the rotation of the swing shaft.

[0006] The claw rod mechanism is composed of an upper claw rod, an upper sliding chain, a lower claw rod, a lower sliding chain and a sprocket; both the upper claw rod and the lower claw rod are arc-shaped, the arc radius of the upper claw rod is smaller than that of the lower claw rod, the upper claw rod and the lower claw rod are fixedly connected on the side, sprockets are installed at both ends of the upper claw rod and the lower claw rod, the upper sliding chain is installed on the upper claw rod through the sprocket, and the lower sliding chain is installed on the lower claw rod through the sprocket; the part of the upper sliding chain located on the side of the upper claw rod facing the swing shaft is the working section of the upper sliding chain, and the part of the lower sliding chain located on the side of the lower claw rod facing away from the swing shaft is the working section of the lower sliding chain. The position of the working section of the upper sliding chain is higher than that of the non-working section of the lower sliding chain, and the position of the working section of the lower sliding chain is lower than that of the non-working section of the upper sliding chain.

[0007] When grasping, the swing rod driver drives the swing shaft to rotate, drives the claw rod mechanism to extend out of the claw rod hole through the swing rod, and rotates downward around the swing shaft to finally grasp the product on the claw rod mechanism. During this process, the working section of the upper sliding chain is stationary relative to the product and slides relative to the upper claw rod after contacting the product. The product is lifted on the working section of the upper sliding chain to avoid direct friction with the upper claw rod. The working section of the lower sliding chain is stationary relative to the placement area and slides relative to the lower claw rod after contacting the product placement area, so as to avoid direct friction between the placement area and the lower claw rod. The above-mentioned placement area can be any platform, conveyor belt or the lower product in the stack.

[0008] When releasing, the swing rod driver drives the swing shaft to rotate, drives the claw rod mechanism to retract into the claw rod hole through the swing rod, so as to unload the product from the claw rod mechanism. During this process, the working section of the upper sliding chain is stationary relative to the product and slides relative to the upper claw rod, and the working section of the lower sliding chain is stationary relative to the placement area and slides relative to the lower claw rod, so as to prevent friction between the claw rod mechanism and the product or the placement area.

[0009] Since the claw rod mechanism is arc-shaped, its stroke is continuously and gradually bent during the telescopic process, and it does not occupy the side space of the product. Therefore, it can be used to grasp from a tightly stacked material pile, and when releasing, it can operate close to the lower layer of materials to avoid throwing actions on the product.

[0010] Preferably, the link of the working section of the upper sliding chain at the claw rod hole is fixedly connected to the gripper housing, and the link of the working section of the lower sliding chain at the claw rod hole is fixedly connected to the gripper housing. This structure can force the upper sliding chain and the lower sliding chain to slide during the telescopic movement of the claw rod mechanism, and further prevent friction between the upper sliding chain, the lower sliding chain and the product or the placement area.

[0011] Preferably, the claw rod mechanism is composed of two upper claw rods, two upper sliding chains, one lower claw rod, one lower sliding chain and six sprockets. The lower claw rod and its attached lower sliding chain are located between the two upper claw rods and their attached upper sliding chains; the product is lifted by the two upper sliding chains to prevent it from contacting the non-working section of the lower sliding chain. At the same time, the working section of the lower sliding chain can also ensure that the non-working section of the upper sliding chain does not contact and rub against the placement area.

[0012] Further, the claw rod mechanism is connected to two swing rods, and the two swing rods are symmetrically connected to the side surface of the upper claw rod.

[0013] Further, the claw rod mechanism further includes an upper shielding cover and a lower shielding cover. The upper shielding cover is installed between the upper claw rods to shield the non-working section of the lower sliding chain, and the lower shielding cover is installed on both sides of the lower claw rod to shield the non-working section of the upper sliding chain. This structure can limit the upper sliding chain and the lower sliding chain to prevent the chain from sagging and deforming to contact the product or the placement area.

[0014] Preferably, a chute is provided on the upper claw rod, and the upper sliding chain slides in the chute of the upper claw rod. A chute is provided on the lower claw rod, and the lower sliding chain slides in the chute of the lower claw rod to prevent the upper sliding chain and the lower sliding chain from derailing.

[0015] Preferably, the upper claw rod and the lower claw rod are provided with anti-hooking slopes converging towards the sprocket shaft at the connection with the sprocket.

[0016] The present invention provides a gripper for a bagging robot. By arranging the upper sliding chain and the lower sliding chain staggered on the claw rod, it avoids the direct contact and friction of the load-bearing structure of the claw rod with the product, thereby reducing the possibility of product breakage during the bagging process. And through the arc-shaped claw rod design, the claw rod does not occupy the side space of the product when grasping and releasing the product, enabling the gripper to release the product without throwing action, and improving the applicability of the bagging robot in different environments. Brief Description of the Drawings:

[0017] Attached Figure 1 is a schematic structural diagram of a specific embodiment of the gripper for a bagging robot according to the present invention;

[0018] Attached Figure 2 is a schematic structural diagram of the grasping state of a specific embodiment of the gripper for a bagging robot according to the present invention;

[0019] Attached Figure 3 is a schematic diagram of a partial structure of the claw rod mechanism of a specific embodiment of the gripper for a bagging robot according to the present invention;

[0020] Attached Figure 4 is a schematic top view structural diagram of the grasping state of a specific embodiment of the gripper for a bagging robot according to the present invention;

[0021] Attached Figure 5 is a schematic diagram of the end structure of the claw rod mechanism of a specific embodiment of the gripper for a bagging robot according to the present invention;

[0022] Attached Figure 6 is a schematic sectional view of the claw rod mechanism of a specific embodiment of the gripper for a bagging robot according to the present invention.

[0023] In the figure: gripper housing 1, claw rod hole 101, swing rod 2, swing shaft 3, swing rod driver 4, claw rod mechanism 5, upper claw rod 501, upper sliding chain 502, working section of upper sliding chain 5021, non-working section of upper sliding chain 5022, lower claw rod 503, lower sliding chain 504, working section of lower sliding chain 5041, non-working section of lower sliding chain 5042, sprocket 505, upper shielding cover 506, lower shielding cover 507, chute 508, anti-hooking slope 509. Specific implementation method:

[0024] The gripper for the bagging robot includes a gripper housing 1, a swing rod 2, a swing shaft 3, a swing rod driver 4 and a claw rod mechanism 5; among them, the gripper housing 1 is installed at the end of the manipulator of the bagging robot; there are two groups of eight claw rod mechanisms 5, and each claw rod mechanism 5 is fixedly connected to the outer ends of two swing rods 2. The inner ends of the swing rods 2 are fixedly connected to the swing shaft 3 and are hinged in the gripper housing 1 through the swing shaft 3; there are two swing shafts 3, which are installed in the middle of the gripper housing 1 from left to right. The swing shaft 3 extends to the edge of the gripper housing 1 and installs the swing rod driver 4; eight claw rod holes are opened on the lower surface of the gripper housing 1, the outer ends of the claw rod mechanism 5 extend out of the claw rod holes, and the inner ends of the claw rod mechanism 5 are connected to the swing rods 2; the claw rod mechanism 5 is arc-shaped, and the center of its arc is located at the swing shaft 3. The claw rod mechanism 5 realizes expansion and contraction outside the claw rod hole with the rotation of the swing shaft 3.

[0025] The claw rod mechanism 5 is composed of an upper claw rod 501, an upper sliding chain 502, a lower claw rod 503, a lower sliding chain 504 and a sprocket 505; both the upper claw rod 501 and the lower claw rod 503 are arc-shaped, the arc radius of the upper claw rod 501 is smaller than that of the lower claw rod 503, the sides of the upper claw rod 501 and the lower claw rod 503 are fixedly connected, sprockets 505 are installed at both ends of the upper claw rod 501 and the lower claw rod 503, the upper sliding chain 502 is installed on the upper claw rod 501 through the sprocket 505, and the lower sliding chain 504 is installed on the lower claw rod 503 through the sprocket 505; the part of the upper sliding chain 502 located on the side of the upper claw rod 501 facing the swing shaft 3 is the working section of the upper sliding chain 5021, and the part of the lower sliding chain 504 located on the side of the lower claw rod 503 facing away from the swing shaft 3 is the working section of the lower sliding chain 5041. The position of the working section of the upper sliding chain 5021 is higher than that of the non-working section of the lower sliding chain 5042, and the position of the working section of the lower sliding chain 5041 is lower than that of the non-working section of the upper sliding chain 5022.

[0026] The link of the working section of the upper sliding chain 5021 at the claw rod hole is fixedly connected to the gripper housing 1, and the link of the working section of the lower sliding chain 5041 at the claw rod hole is fixedly connected to the gripper housing 1. This structure can force the upper sliding chain 502 and the lower sliding chain 504 to slide when the claw rod mechanism 5 expands and contracts, further preventing the upper sliding chain 502, the lower sliding chain 504 from rubbing against the product or the placement area.

[0027] The claw rod mechanism 5 is composed of two upper claw rods 501, two upper sliding chains 502, one lower claw rod 503, one lower sliding chain 504 and six sprockets 505. Among them, the lower claw rod 503 and its affiliated lower sliding chain 504 are located between the two upper claw rods 501 and their affiliated upper sliding chains 502; the product is lifted by the two upper sliding chains 502 to prevent it from contacting the non-working section 5042 of the lower sliding chain. At the same time, the working surface of the lower sliding chain 504 can also ensure that the non-working section 5022 of the upper sliding chain does not contact and rub against the placement area.

[0028] The claw rod mechanism 5 further includes an upper shielding cover 506 and a lower shielding cover 507. Among them, the upper shielding cover 506 is installed between the upper claw rods 501 to shield the non-working section 5042 of the lower sliding chain, and the lower shielding cover 507 is installed on both sides of the lower claw rod 503 to shield the non-working section 5022 of the upper sliding chain. This structure can limit the upper sliding chain 502 and the lower sliding chain 504 to prevent the chains from sagging and deforming and contacting the product or the placement area.

[0029] Chute 508 is provided on the upper claw rod 501, and the upper sliding chain 502 slides in the chute 508 of the upper claw rod 501. Chute 508 is provided on the lower claw rod 503, and the lower sliding chain 504 slides in the chute 508 of the lower claw rod 503 to prevent the upper sliding chain 502 and the lower sliding chain 504 from derailing.

[0030] The upper claw rod 501 and the lower claw rod 503 are provided with anti-hooking slopes 509 that converge towards the shaft part of the sprocket 505 at the connection with the sprocket 505.

[0031] When grasping, the swing rod driver 4 drives the swing shaft 3 to rotate, drives the claw rod mechanism 5 to extend out of the claw rod hole through the swing rod 2, and rotates downward around the swing shaft 3 to finally grasp the product on the claw rod mechanism 5. During this process, the working section 5021 of the upper sliding chain is stationary relative to the product and slides relative to the upper claw rod 501 after contacting the product. The product is lifted on the working section 5021 of the upper sliding chain to avoid direct friction with the upper claw rod 501. The working section 5041 of the lower sliding chain is stationary relative to the placement area and slides relative to the lower claw rod 503 after contacting the product placement area, so as to avoid direct friction between the placement area and the lower claw rod 503. The above-mentioned placement area can be any platform, conveyor belt or the lower product in the stack.

[0032] When releasing, the swing rod driver 4 drives the swing shaft 3 to rotate, drives the claw rod mechanism 5 to retract into the claw rod hole through the swing rod 2, so that the product is unloaded from the claw rod mechanism 5. During this process, the working section 5021 of the upper sliding chain is stationary relative to the product and slides relative to the upper claw rod 501, and the working section 5041 of the lower sliding chain is stationary relative to the placement area and slides relative to the lower claw rod 503, so as to prevent the claw rod mechanism 5 from rubbing against the product or the placement area.

[0033] Since the claw rod mechanism 5 is arc-shaped, its stroke during the telescopic process is a continuous gradual bending, which will not occupy the side space of the product. Therefore, it can be used to grab from a tightly stacked material pile, and when releasing, it can operate close to the lower-layer materials to avoid throwing actions on the product.

Claims

1. The gripper for a sack robot, characterized in that, It includes a mobile phone grasping box, a swing rod, a swing shaft, a swing rod driver, and a claw rod mechanism; Among them, the mobile phone grasping box is installed at the end of the manipulator of the bag palletizing robot; there are multiple claw rod mechanisms, and each claw rod mechanism is fixedly connected to the outer end of at least one swing rod. The inner end of the swing rod is fixedly connected to the swing shaft and is hinged in the mobile phone grasping box through the swing shaft; there are two swing shafts, which are respectively installed in the middle of the inner part of the mobile phone grasping box on the left and right. The swing shafts extend to the edge of the mobile phone grasping box and install swing rod drivers; a plurality of claw rod holes are opened on the lower surface of the mobile phone grasping box, the outer end of the claw rod mechanism extends out of the claw rod holes, and the inner end of the claw rod mechanism is connected to the swing rod; the claw rod mechanism is arc-shaped, and the center of its arc is located at the swing shaft. The claw rod mechanism realizes telescoping outside the claw rod holes as it rotates with the swing shaft; The claw rod mechanism consists of an upper claw rod, an upper sliding chain, a lower claw rod, a lower sliding chain, and a sprocket; both the upper claw rod and the lower claw rod are arc-shaped, the arc radius of the upper claw rod is smaller than that of the lower claw rod, the upper claw rod and the lower claw rod are fixedly connected on the side, and sprockets are installed at both ends of the upper claw rod and the lower claw rod. The upper sliding chain is installed on the upper claw rod through the sprocket, and the lower sliding chain is installed on the lower claw rod through the sprocket; the part of the upper sliding chain located on the side of the upper claw rod facing the swing shaft is the working section of the upper sliding chain, and the part of the lower sliding chain located on the side of the lower claw rod facing away from the swing shaft is the working section of the lower sliding chain. The position of the working section of the upper sliding chain is higher than the non-working section of the lower sliding chain, and the position of the working section of the lower sliding chain is lower than the non-working section of the upper sliding chain; The link of the working section of the upper sliding chain at the claw rod hole is fixedly connected to the mobile phone grasping box, and the link of the working section of the lower sliding chain at the claw rod hole is fixedly connected to the mobile phone grasping box.

2. The gripper for the sack robot according to claim 1, characterized in that, The claw rod mechanism consists of two upper claw rods, two upper sliding chains, one lower claw rod, one lower sliding chain, and six sprockets, where the lower claw rod and its attached lower sliding chain are located between the two upper claw rods and their attached upper sliding chains.

3. The gripper for the sack robot according to claim 2, characterized in that, The claw rod mechanism is connected to two swing rods, and the two swing rods are symmetrically connected to the side of the upper claw rod.

4. The gripper for the sack robot according to claim 2, characterized in that, The claw rod mechanism also includes an upper shielding cover and a lower shielding cover, where the upper shielding cover is installed between the upper claw rods to shield the non-working section of the lower sliding chain, and the lower shielding cover is installed on both sides of the lower claw rod to shield the non-working section of the upper sliding chain.

5. The gripper for the sack robot according to claim 1, characterized in that, Chute grooves are provided on the upper claw rod, and the upper sliding chain slides in the chute groove of the upper claw rod. Chute grooves are provided on the lower claw rod, and the lower sliding chain slides in the chute groove of the lower claw rod.

6. The gripper for the sack robot according to claim 1, characterized in that, The upper claw rod and the lower claw rod are provided with anti-hooking slope surfaces that converge towards the shaft part of the sprocket at the connection with the sprocket.

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