An installation gripper for a palletizing fixture

Abstract

The present invention discloses an installation gripper for a palletizing fixing part, which includes a bracket, a picking and placing mechanism arranged on the bracket, a ranging mechanism and a hammering mechanism; the picking and placing mechanism is located on one side of the ranging mechanism, and the hammering mechanism is located above the picking and placing mechanism. The installation gripper can cooperate with a three-axis moving mechanism or a six-axis manipulator to perform the automatic installation work of the palletizing fixing part. After the installation gripper grabs the palletizing fixing part, it accurately clips the palletizing fixing part into the top of the vertical clamping plate. Subsequently, the picking and placing mechanism releases the palletizing fixing part. Finally, the position of the hammering mechanism is adjusted so that the hammering mechanism is located directly above the palletizing fixing part, and the hammering mechanism hammers the palletizing fixing part to make the palletizing fixing part closely combine with the vertical clamping plate, ensuring that the placement position of the palletizing fixing part is accurate and no tilting occurs.

Description

Technical Field

[0001] The present invention relates to the technical field of thin film coil packaging, and particularly to an installation gripper for palletizing fixing parts. Background Art

[0002] The coil is a cylindrical plastic film roll. After the coil is manufactured, it needs to be transported to various places for sale. In order to protect the integrity of the coil during transportation and handling, reduce wear, and increase the transportation quantity, the coil needs to be suspended and packaged. Suspended packaging can be understood as first independently packaging a single coil, wrapping the surface of the coil with bubble film, then buckling the two ends with a paper cover and a foam pad, and fixing them with tape winding; then installing vertical clamping plates at both ends of the coil, and then bundling the two vertical clamping plates, so that the coil is suspended between the two vertical clamping plates. After the single coil is packaged, the coils are transported to the palletizing station one by one and neatly stacked on a wooden pallet. When stacking, the vertical clamping plates of two coils need to be connected by fixing parts. At present, the suspended packaging of coils in this industry is mainly manual packaging, with low work efficiency and low automation degree. Therefore, when automating the suspended packaging production line of coils, it is urgent to develop a gripper that can automatically install fixing parts.

[0003] It can be seen that the existing technology still needs to be improved. Summary of the Invention

[0004] In view of the deficiencies of the above-mentioned existing technology, the purpose of the present invention is to provide an installation gripper that can automatically install palletizing fixing parts.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] An installation gripper for palletizing fixing parts includes a bracket, a picking and placing mechanism, a distance measuring mechanism, and a hammering mechanism arranged on the bracket; the picking and placing mechanism is located on one side of the distance measuring mechanism, the hammering mechanism is located above the picking and placing mechanism, the picking and placing mechanism is used to grab the palletizing fixing parts, the distance measuring mechanism is used to detect the distance between the installation gripper and the side surface of the vertical clamping plate; the hammering mechanism is used to hammer the palletizing fixing parts to make the palletizing fixing parts closely combine with the vertical clamping plate; the picking and placing mechanism, the distance measuring mechanism, and the hammering mechanism are all electrically connected to the control system.

[0007] As a further improvement of the above technical solution, the bracket is an L-shaped plate, and the L-shaped plate includes a bottom plate and a vertical plate perpendicular to the bottom plate.

[0008] As a further improvement of the above technical solution, the picking and placing mechanism includes an electromagnet arranged on the bottom plate.

[0009] As a further improvement of the above technical solution, the bottom surface of the electromagnet is a rectangular plane.

[0010] As a further improvement of the above technical solution, the hammering mechanism includes a cylinder fixedly arranged on the vertical plate and vertically downward, and a hammer head arranged at the end of the piston rod of the cylinder.

[0011] As a further improvement of the above technical solution, the hammer head includes a horizontally arranged hammer plate and hammer blocks arranged at the bottom of the hammer plate. The hammer blocks are arranged at the center of the bottom of the hammer plate, and the hammer plate is fixedly connected to the end of the piston rod of the cylinder.

[0012] As a further improvement of the above technical solution, upper clamping blocks and lower clamping blocks are arranged on the vertical plate, and the cylinder block of the cylinder is fixed between the upper clamping blocks and the lower clamping blocks.

[0013] As a further improvement of the above technical solution, the distance measuring mechanism includes a support arm vertically arranged at the bottom of the bottom plate and a distance measuring probe arranged on the support arm.

[0014] As a further improvement of the above technical solution, the bracket is installed on the z-axis lifting mechanism.

[0015] Beneficial effects:

[0016] The installation gripper provided by the present invention can cooperate with a three-axis moving mechanism or a six-axis manipulator to perform the automatic installation work of palletizing fasteners; during installation, the installation gripper first moves to the feeding station of the palletizing fastener, the picking and placing mechanism of the installation gripper extends into the upper slot of the palletizing fastener, and sucks the palletizing fastener, then the installation gripper moves towards the direction close to the outer side of the vertical clamping plate. When the distance measuring mechanism senses that the distance from the outer side of the vertical clamping plate is equal to the set distance, the installation gripper stops moving towards the outer side of the vertical clamping plate. At this time, the palletizing fastener is located directly above the vertical clamping plate, and then the installation gripper slowly moves downward, so that the lower slot of the palletizing fastener is accurately stuck into the top of the vertical clamping plate. Subsequently, the picking and placing mechanism releases the palletizing fastener. Finally, the position of the hammering mechanism is adjusted so that the hammering mechanism is located directly above the palletizing fastener, and the hammering mechanism hammers the palletizing fastener to make the palletizing fastener closely combined with the vertical clamping plate, ensuring that the placement position of the palletizing fastener is accurate and no tilting occurs. Description of the drawings

[0017] Figure 1 It is a perspective view of the installation gripper provided by the present invention.

[0018] Figure 2 It is a perspective view of the installation gripper provided by the present invention when placing the palletizing fastener.

[0019] Figure 3 It is Figure 2 The partial enlarged view of area A in

[0020] Figure 4 It is the front view of the installation gripper provided by the present invention when placing the palletizing fastener.

[0021] Figure 5 For Figure 4 Partial enlarged view of area B in

[0022] Description of main component symbols: 1 - Bracket, 11 - Bottom plate, 12 - Vertical plate, 2 - Pick - and - place mechanism, 21 - Electromagnet, 3 - Distance - measuring mechanism, 31 - Arm, 32 - Distance - measuring probe, 5 - Hammering mechanism, 51 - Cylinder, 52 - Hammer head, 521 - Hammer plate, 522 - Hammer block, 53 - Upper clamping block, 54 - Lower clamping block, 6 - Palletizing fixture, 7 - Vertical clamping plate. Specific implementation mode

[0023] The present invention provides an installation gripper for a palletizing fixture. To make the purpose, technical solution and effect of the present invention clearer and more definite, the following further elaborates on the present invention with reference to the accompanying drawings and by way of examples. It should be understood that the specific examples described herein are only used to explain the present invention and are not used to limit the protection scope of the present invention.

[0024] In this article, the front - to - back direction refers to the extension direction of the x - axis, the left - to - right direction refers to the extension direction of the y - axis, and the up - and - down direction refers to the extension direction of the z - axis.

[0025] Please refer to Figures 1 - 5 , the present invention provides an installation gripper for a palletizing fixture, including a bracket 1, a pick - and - place mechanism 2, a distance - measuring mechanism 3 and a hammering mechanism 5 arranged on the bracket 1; the pick - and - place mechanism 2 is located on one side of the distance - measuring mechanism 3, the hammering mechanism 5 is located above the pick - and - place mechanism 2, the pick - and - place mechanism 2 is used to grab the palletizing fixture 6, the distance - measuring mechanism 3 is used to detect the distance between the installation gripper and the side of the vertical clamping plate 7; the hammering mechanism 5 is used to hammer the palletizing fixture 6 to make the palletizing fixture 6 closely combined with the vertical clamping plate 7; the pick - and - place mechanism 2, the distance - measuring mechanism 3 and the hammering mechanism 5 are all electrically connected to a control system. The control system is a PLC control system.

[0026] In practical applications, the installation gripper provided by the present invention can be assembled on a three - axis moving mechanism 8, so that the installation gripper can move flexibly in six directions of front, back, left, right, up and down. The following provides an implementation mode of the three - axis moving mechanism: The three - axis moving mechanism 8 includes a frame 81, an x - axis slide 82 slidably arranged on the frame, an x - axis linear driving mechanism 83 for driving the x - axis slide to move back and forth, a y - axis slide 84 slidably arranged on the x - axis slide, a y - axis linear driving mechanism 85 for driving the y - axis slide to move left and right, and a z - axis lifting mechanism 86 arranged on the y - axis slide. The installation gripper is installed on the z - axis lifting mechanism 86. Of course, the installation gripper provided by the present invention can also be directly installed on the clamping end of a six - axis manipulator, and the six - axis manipulator can flexibly drive the installation gripper to move.

[0027] When the pallet fixing member 6 is projected orthographically from left to right, the pallet fixing member 6 is in an H shape. The pallet fixing member 6 includes a profile body in a "U" shape. The profile body includes a bottom plate portion 61 and two vertical plate portions 62 respectively arranged on both sides of the bottom plate portion. The two vertical plate portions 62 and the bottom plate portion 61 enclose an upper notch. A turned-up piece 63 that bends downward is formed on each of the vertical plate portions 62. The two turned-up pieces 63 and the bottom plate portion 61 enclose a lower notch.

[0028] During operation, the film roll 9 is placed on the pallet fixing member assembly station. Vertical clamping plates 7 are provided at both ends of the film roll 9. The two vertical clamping plates 7 are fixed by bundling, so that the coil is suspended between the two vertical clamping plates 7. The installation gripper first moves to the loading station of the pallet fixing member. The picking and placing member mechanism 2 of the installation gripper extends into the upper notch of the pallet fixing member 6, and sucks the pallet fixing member 6. Then the installation gripper moves in the direction close to the outer side surface of the vertical clamping plate 7. When the distance measuring mechanism 3 senses that the distance from the outer side surface of the vertical clamping plate 7 is equal to the set distance, the installation gripper stops moving towards the outer side surface of the vertical clamping plate 7. At this time, the pallet fixing member 6 is located directly above the vertical clamping plate 7. Then the installation gripper slowly moves downward, so that the lower notch of the pallet fixing member 6 accurately clamps onto the top of the vertical clamping plate 7. Subsequently, the picking and placing member mechanism 2 releases the pallet fixing member 6. Finally, the position of the hammering mechanism 5 is adjusted so that the hammering mechanism 5 is located directly above the pallet fixing member 6. The hammering mechanism 5 hammers the pallet fixing member 6, so that the pallet fixing member 6 is tightly combined with the vertical clamping plate 7, ensuring that the placement position of the pallet fixing member 6 is accurate and will not tilt.

[0029] In this embodiment, the bracket 1 is an L-shaped plate. The L-shaped plate includes a bottom plate 11 and a vertical plate 12 perpendicular to the bottom plate 11. By setting the bracket 1 in an L-shaped structure, it can be better connected to the z-axis lifting mechanism. The z-axis lifting mechanism is a linear module. The vertical plate is connected to the linear module by screws, and the slide of the linear module is fixedly connected to the y-axis carriage.

[0030] In this embodiment, the picking and placing member mechanism 2 includes an electromagnet 21 arranged on the bottom plate 11. The pallet fixing member 6 is made of iron. After the electromagnet 21 is energized, it can magnetically attract the bottom plate portion 61 of the pallet fixing member 6, and releases the pallet fixing member 6 when powered off. The picking and placing is reliable and convenient to control.

[0031] Furthermore, the bottom surface of the electromagnet 21 is a rectangular plane. By setting it like this, on the one hand, the bottom surface of the electromagnet 21 can better fit the bottom plate portion 61 of the pallet fixing member 6, improving the stability of picking and placing. On the other hand, the effective magnetic attraction area can be increased to obtain a greater magnetic attraction force.

[0032] Specifically, the hammering mechanism 5 includes a cylinder 51 fixedly arranged on the vertical plate 12 and vertically downward, and a hammer head 52 arranged at the end of the piston rod of the cylinder 51. During hammering, the hammer head 52 is located directly above the palletizing fixture 6, and the cylinder 51 drives the hammer head 52 to move downward, causing the hammer head 52 to hammer the palletizing fixture 6, not only making the palletizing fixture 6 more tightly combined with the vertical clamping plate 7 to prevent the palletizing fixture 6 from loosening; but also correcting the problem that the palletizing fixture 6 is placed obliquely, ensuring that the bottom plate part of the palletizing fixture 6 can be flat against the top surface of the vertical clamping plate 7, so that the next vertical clamping plate 7 of the film roll can be stably placed on the palletizing fixture 6.

[0033] Further, the hammer head 52 includes a horizontally arranged hammer plate 521 and a hammer block 522 arranged at the bottom of the hammer plate 521. The hammer block 522 is arranged at the center of the bottom of the hammer plate 521, and the hammer plate 521 is fixedly connected to the end of the piston rod of the cylinder 51. The hammer block 522 is used to hammer the bottom plate part of the palletizing fixture 6, while the hammer plate 521 presses the vertical plate part 62 of the palletizing fixture 6 to prevent the palletizing fixture 6 from jumping during hammering and ensure that the palletizing fixture 6 is tightly connected to the vertical clamping plate 7.

[0034] Preferably, an upper clamping block 53 and a lower clamping block 54 are arranged on the vertical plate 12. The cylinder 51 can be fixed by clamping the cylinder body of the cylinder 51 with the upper clamping block 53 and the lower clamping block 54, which is convenient for disassembly.

[0035] Preferably, the distance measuring mechanism 3 includes a support arm 31 vertically arranged at the bottom of the bottom plate 11 and a distance measuring probe 32 arranged on the support arm 31. The distance measuring probe 32 is a laser distance sensor, and the laser distance sensor is sensitive and reliable in measuring the distance from the outer side surface of the vertical clamping plate 7.

[0036] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection capable of mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] It can be understood that for those of ordinary skill in the art, equivalent substitutions or changes can be made according to the technical solutions and inventive concepts of the present invention, and all such changes or substitutions should fall within the protection scope of the present invention.

Claims

1. An installation gripper for a palletizing fixture, which is used to install the palletizing fixture on a vertical clamping plate, and is characterized in that, The invention comprises a bracket, a pick-up and place mechanism, a distance measuring mechanism and a hammering mechanism arranged on the bracket; the pick-up and place mechanism is located on one side of the distance measuring mechanism, the hammering mechanism is located above the pick-up and place mechanism, the pick-up and place mechanism is used to grab the stacking fixture, the distance measuring mechanism is used to detect the distance between the mounting gripper and the side of the vertical clamping plate; the hammering mechanism is used to hammer the stacking fixture so that the stacking fixture is tightly combined with the vertical clamping plate; the pick-up and place mechanism, the distance measuring mechanism and the hammering mechanism are all electrically connected to the control system; the bracket is an L-shaped plate, and the L-shaped plate comprises a bottom plate and a vertical plate perpendicular to the bottom plate; the pick-up and place mechanism comprises an electromagnet arranged on the bottom plate; the hammering mechanism comprises The invention comprises a cylinder which is fixed on the vertical plate and faces vertically downward, and a hammer head which is arranged at the end of the piston rod of the cylinder; the hammer head comprises a hammer plate which is arranged horizontally, and a hammer block which is arranged at the bottom of the hammer plate, the hammer block is arranged at the center of the bottom of the hammer plate, and the hammer plate is fixedly connected to the end of the piston rod of the cylinder; the stacking fixture comprises a profile body which is in the shape of "凵", the profile body comprises a bottom sheet part and two vertical sheet parts which are respectively arranged at both sides of the bottom sheet part, the two vertical sheet parts and the bottom sheet part form an upper notch, each of the vertical sheet parts is provided with a flap which is bent downward, and the two flaps and the bottom sheet part form a lower notch; the picking and placing mechanism extends into the upper notch of the stacking fixture to absorb the stacking fixture, and the lower notch of the stacking fixture is clamped into the top of the vertical clamping plate.

2. The installation gripper of the pallet fixing member according to claim 1, characterized in that The bottom surface of the electromagnet is a rectangular plane.

3. The installation gripper of the pallet fixing part according to claim 1, characterized in that, An upper clamping block and a lower clamping block are arranged on the vertical plate, and the cylinder body of the cylinder is fixed between the upper clamping block and the lower clamping block.

4. The installation gripper of the pallet fixing part according to claim 1, characterized in that, The distance measuring mechanism comprises a support arm vertically arranged at the bottom of the base plate and a distance measuring probe arranged on the support arm.

5. The installation gripper of the pallet fixing part according to claim 1, characterized in that, The bracket is installed on the z-axis lifting mechanism.

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