An online adjustable bag clamping device

Abstract

This invention discloses an online adjustable bag clamping device, comprising a mounting frame, a primary translation component, a secondary translation component, and a load-bearing component. Both the primary and secondary translation components are mounted on the mounting frame. The mounting frame has two primary translation components, each with a load-bearing component. The load-bearing component is mounted on a guide rail of the secondary translation component. This online adjustable bag clamping device has high load-bearing capacity and can flexibly handle heavy, standardized cardboard box packaging. It establishes a connection with the product using a uniform force distribution method, facilitating handling and ensuring that the cardboard box is protected from damage during transport.

Description

Technical Field

[0001] This invention relates to an online adjustable bag clamping device. Background Technology

[0002] In warehousing and logistics, goods handling involves stacking operations. These operations typically involve products with fixed and regular shapes, such as those packaged in standard cardboard boxes. In the industrial sector, cardboard-packaged products are often heavy, making the weight of the boxes unsuitable for manual handling. For example, a standard double-walled corrugated cardboard box can weigh 50 to 60 kilograms after being filled with goods. This weight is unsuitable for manual handling due to its high labor intensity, low efficiency, and the risk of damage from localized stress during transport. The lack of suitable clamps for such items in current technology prevents mechanical stacking operations from being implemented. Summary of the Invention

[0003] The technical problem to be solved by the present invention is how to cope with the need to handle various standardized cardboard boxes in a uniform force manner, thereby obtaining an online adjustable clamping device.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The online adjustable bag clamping device includes a mounting frame, a primary translation component, a secondary translation component, and a load-bearing component. The primary and secondary translation components are both mounted on the mounting frame. The mounting frame has two primary translation components, each of which has a load-bearing component. The secondary translation component has two power output parts that move synchronously in the same direction and two guide rails. The two guide rails are distributed on two load-bearing components. The load-bearing components are mounted on the load-bearing components through the guide rails of the secondary translation components. The load-bearing components are connected to the power output parts of the secondary translation components, and a material conveying channel is formed between the load-bearing components. The direction in which the primary translation components drive the load-bearing components is perpendicular to the direction in which the secondary translation components drive the load-bearing components. The extension direction of the material conveying channel is parallel to the direction in which the secondary translation components drive the load-bearing components.

[0005] Online adjustable clamping devices, as grippers, require spatial transport structures for use, such as six-joint robots, gantry robots, and components with variable longitudinal and lateral spatial positions. The online adjustable clamping device in this invention is designed for cardboard boxes with fixed shapes and specifications. Therefore, the components in contact with the cardboard box are load-bearing parts. After contact, the load-bearing parts can form a connection that is either purely supportive or a combination of clamping and support, representing a flexible connection. The load-bearing parts provide sufficient bearing surface, thereby avoiding localized stress on the cardboard box and ensuring that the box is not damaged during transport.

[0006] The opening and closing structure of the load-bearing components is not a common linkage mechanism, but rather a highly controllable translation mechanism with two-stage controllable translation characteristics, including a primary translation component and a secondary translation component. There are two load-bearing components, each requiring an independent primary translation component to drive it, enabling adjustment of the distance between the load-bearing components and thus achieving the overall clamping and opening actions of the load-bearing components. The primary translation component is not directly connected to the load-bearing components, but rather connected through the power output part of the secondary translation component. In other words, the primary translation component moves the load-bearing components while simultaneously moving the power output part of the secondary translation component. The secondary translation component can also drive the load-bearing components, but the direction of movement of the load-bearing components driven by the primary translation component intersects with the direction driven by the secondary translation component, and the direction of movement driven by the primary translation component is perpendicular to the direction of movement driven by the secondary translation component.

[0007] The primary translation component drives the load-bearing component to move in two ways: synchronous movement in the same direction and synchronous movement in opposite directions. Synchronous movement in the same direction occurs when the load-bearing component moves in a fixed clamping posture, which can be in an unloaded or loaded state. Synchronous movement in opposite directions occurs when the load-bearing component opens (increasing the distance between the load-bearing components) or closes (decreasing the distance between the load-bearing components), which can be during the clamping of an item or when adjusting the clamp opening to accommodate different items. The primary translation component is integrated into an online adjustable clamping device. Therefore, it is easy to understand that this invention allows for online adjustment of the clamp opening according to the item size, making it suitable for clamping items of various sizes. Thus, it eliminates the need to change clamps when handling items of different sizes.

[0008] The secondary translation component drives the load-bearing component's movement only through synchronous, same-direction motion. This provides an additional horizontal displacement on top of the displacement provided by the primary translation component, thus increasing the horizontal displacement range of the item. The translation operation provided by the secondary translation component plays a significant role in the stacking stage within the container. Given the limited space within the container, the robot's arm may not be able to reach all areas. Once an item reaches the perimeter of a predetermined area, the translation operation provided by the secondary translation component allows it to approach or enter that area more closely. When the load-bearing component can no longer obtain the necessary space to open, the worker simply pushes the item out of the conveyor channel to ensure it enters the predetermined area. The capabilities of the secondary translation component are crucial in container stacking scenarios, greatly assisting workers, reducing labor intensity, and improving work efficiency.

[0009] In this technical solution, the primary translation component also includes a guide rod and a power assembly I. The power assembly I has a power output section. The guide rod is fixedly mounted on the mounting frame, and the load is movably mounted on the guide rod in a sliding manner. The power output section of the power assembly I is connected to the load, and the power assembly I drives the load to move. Because the load-bearing function and the adjustment and driving function are divided into two structures, the guide rod is responsible for the load-bearing operation, and the power assembly I is responsible for the adjustment and driving operation. The load-bearing capacity of the guide rod can be relatively high based on existing industrial conditions. After the functional division, the structural scheme of the power assembly I can be selected from electric cylinders, pneumatic cylinders, hydraulic cylinders, and synchronous mechanisms. Therefore, the primary translation component under this structure has significant load-bearing capacity and compatibility.

[0010] Based on the normal operating conditions of the online adjustable clamping device, it can be observed that there are two ways for items to detach from the device: one is from below, and the other is from the side. Detachment from the side causes a significant shift in the device's center of gravity, which can alter the stress structure of critical connections and lead to mechanical fatigue. To maintain the center of gravity of the online adjustable clamping device within a reasonable range during operation, the power assembly I in this machine's technical solution includes a synchronous belt, pulleys, a drive shaft, a motor, and a reducer. The motor is connected to the reducer and mounted on the mounting frame via the reducer. The synchronous belt is mounted on the drive shaft via the pulleys. The drive shaft is movably mounted on the mounting frame and connected to the reducer. The synchronous belt is fixedly connected to the load, and the extension direction of the drive shaft is parallel to the extension direction of the material conveying channel. After the synchronous belt is unfolded, the straight section, serving as the power output section of power component I, can be positioned for easy connection of the load. Other components that generate and transmit power, having significant weight, can be placed on one side of the mounting frame. This ensures that the center of gravity offset of the online adjustable clamping device during operation does not exceed the upper limit and remains within a reasonable range. Furthermore, the connection between the drive shaft and the reducer can be either a direct or indirect connection, depending on the available space. If space is ample, the drive shaft is directly connected to the reducer; if space is limited, an auxiliary shaft can be added to establish the connection. Once established, the drive shaft will inevitably rotate under the drive of the motor.

[0011] This technical solution includes two primary translation components, thus requiring two power components I. If each primary translation component uses an independent mechanical structure, it would necessitate two sets of identical parts, resulting in a significant weight for the entire online adjustable bag clamping device. To avoid excessive weight, this technical solution employs a transmission structure with shared parts for the two primary translation components. Specifically, the drive shaft and pulley of any one primary translation component's power component I are fixedly connected, while the drive shaft of any one primary translation component's power component I is movably connected to the pulley of the other power component I. A fixed connection means that a connection is established between the drive shaft and the pulley, and the pulley rotates synchronously when the drive shaft rotates; a movable connection means that a connection is established between the drive shaft and the pulley, and the pulley is stationary, moves in the opposite direction, or moves differentially relative to the drive shaft when the drive shaft rotates, meaning the pulley's rotation is not limited by the drive shaft's rotation.

[0012] The secondary translation component consists of one unit, but has two power output points corresponding to the primary translation component. These power output points can be constructed using an electric cylinder, pneumatic cylinder, hydraulic cylinder, or a synchronization mechanism. In this technical solution, the power output points of the secondary translation component are constructed using a synchronization mechanism, primarily to maintain the center of gravity within a reasonable range during the operation of the online adjustable clamping device. The secondary translation component also includes a power assembly II, which comprises a synchronous belt, pulleys, a splined shaft, a motor, and a reducer. The motor is connected to the reducer and is mounted on the mounting frame via the reducer. The splined shaft is movably mounted on the mounting frame. The synchronous belt is mounted on the load-bearing component via pulleys, one of which is movably connected to the splined shaft. The synchronous belt is fixedly connected to the load-bearing component, and the splined shaft is connected to the reducer via a transmission belt.

[0013] Achieving a smaller gap between the two load-bearing components expands the applicability of the online adjustable clamping device. The load-bearing components adopt a three-dimensional structure formed by bending sheet metal. Each load-bearing component has an L-shaped bearing portion, which includes a clamping surface and a load-bearing surface. The clamping surfaces of the bearing portions of the two load-bearing components face each other, while the load-bearing surfaces of the two load-bearing components are separated in the vertical direction. The two load-bearing components are arranged in opposite directions, and when they are brought closer together, the two load-bearing surfaces can be stacked, resulting in a smaller gap structure. This allows for a narrower material conveying channel.

[0014] The items are placed in the conveying channel and need to be removed from the channel after reaching the predetermined position. The aforementioned method requires manual pushing to remove the items, which offers high flexibility and allows for ideal stacking results, especially when the items are not properly aligned with their predetermined positions. However, this method still imposes a certain level of labor intensity on workers. To further reduce this labor intensity, this invention provides a mechanical auxiliary structure for the item removal stage. Specifically, the online adjustable clamping device includes a unidirectional pushing component, which is installed on the load of one of the primary translation components. The unidirectional pushing component includes a power assembly III and a linear pushing unit. The linear pushing unit includes a guide plate, a slide table, and a push plate. The guide plate is fixedly installed on one of the loads. The slide table is movably installed on the load in a linear sliding manner. The movement direction of the slide table on the load is parallel to the extension direction of the material conveying channel. The push plate is movably installed on the slide table and can swing on the slide table. The guide plate is provided with a guide groove. One end of the push plate is embedded in the guide groove. The guide groove is provided with a pushing and holding part and a lifting and guiding part. The pushing and holding part and the lifting and guiding part are connected. The pushing and holding part is straight and its extension direction is parallel to the extension direction of the material conveying channel. The lifting and guiding part is offset from the extension direction of the pushing and holding part. The power assembly III is provided with a power output part. The power output part is connected to the slide table and the power assembly III drives the push plate to move. The movement range of the other end of the push plate intersects with the material conveying channel. The pusher plate of the unidirectional pushing component can maintain different spatial postures at different travel positions. Within the conveying channel, the pusher plate remains vertical; after leaving the conveying channel, it remains horizontal. The pusher plate's posture change relies on the design of a linear cam structure; that is, the entire linear pushing unit is a linear cam structure, and the pusher plate's travel changes are synchronized with its posture change. The pusher plate's flexibility allows it to work well with the product entering the conveying channel. When the product moves to a predetermined position and leaves the conveying channel, manual pushing is unnecessary. The pusher plate simply restrains the product while the load-bearing component moves away from the predetermined position. In this way, the pusher plate moves relative to the load-bearing component within the conveying channel, ultimately causing the product to leave the conveying channel.

[0015] The aforementioned unidirectional pushing component achieves the pushing function based on the structure of a linear cam. Alternatively, a pushing structure can be designed based on the idea of ​​a limiting structure blocking the push plate. In this structure, the online adjustable clamping device also includes a unidirectional pushing component, which is mounted on the load of one of the primary translation components. The unidirectional pushing component includes a power assembly III and a linear pushing unit. The linear pushing unit includes a guide plate, a slide table, and a push plate. The guide plate is fixedly mounted on the load, the slide table is movably mounted on the load in a linear sliding manner, and the push plate is movably mounted on the slide table and can swing on the slide table. A limiting protrusion is provided on the slide table, located within the movement range of one end of the push plate. The movement direction of the slide table on the load is parallel to the extension direction of the material conveying channel. The power assembly III has a power output part, which is connected to the slide table, and the power assembly III drives the push plate to move. The movement range of the other end of the push plate intersects with the material conveying channel.

[0016] When the pusher plate swings relative to the slide table, its spatial orientation is constrained by the limiting protrusion, and this constraint is related to the swing direction of the pusher plate. In this invention, when the pusher plate swings towards the conveying channel, one end of the pusher plate will move further and further away from the limiting protrusion, and the spatial orientation of the end of the pusher plate extending into the conveying channel will change from a vertical orientation to a horizontal orientation, including an inclined orientation between the vertical and horizontal orientations; when the pusher plate swings away from the conveying channel, one end of the pusher plate will contact the limiting protrusion and be blocked by the limiting protrusion, and the pusher plate can only be in a vertical orientation. Even if the item is inserted into the conveying channel, it will not be obstructed by the pusher plate. Subsequently, when the item and the pusher plate move relative to each other, the pusher plate will always maintain a vertical orientation, thus the unidirectional pushing component realizes the function of unidirectional conveying.

[0017] The aforementioned one-way pushing component can also be implemented with the following structure: the online adjustable clamping device includes a one-way pushing component, which is installed on the load of one of the primary translation components. The one-way pushing component includes a power component III and a linear pushing unit. The linear pushing unit includes a guide plate, a slide table, and a push plate. The guide plate is fixedly installed on the load. The slide table is movably installed on the load in a linear sliding manner. The push plate is fixedly installed on the slide table in a vertical posture. The direction of movement of the slide table on the load is parallel to the extension direction of the material conveying channel. The power component III is provided with a power output part, which is connected to the slide table, and the power component III drives the push plate to move. The range of movement of the push plate intersects with the material conveying channel.

[0018] The power assembly III also follows the design principle of maintaining the center of gravity of the online adjustable clamping device in a reasonable position. Therefore, the following scheme is adopted: the power assembly III includes a synchronous belt, pulleys, a splined shaft, a motor, and a reducer. The motor is connected to the reducer and is mounted on the mounting frame through the reducer. The splined shaft is movably mounted on the mounting frame. The synchronous belt is mounted on the load with a guide plate through the pulleys. One of the pulleys is movably connected to the splined shaft. The synchronous belt is fixedly connected to the slide table. The splined shaft is connected to the reducer.

[0019] The present invention adopts the above-mentioned technical solution: the online adjustable clamping device has high load capacity and can flexibly connect to heavy standardized cardboard box products, establish a connection with the product in a uniform force distribution manner, thereby facilitating handling operations and fully ensuring that the cardboard box can avoid damage during handling. Attached Figure Description

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 This is a front view of a first embodiment of an online adjustable bag clamping device according to the present invention;

[0022] Figure 2 This is a right view of a first embodiment of an online adjustable bag clamping device according to the present invention;

[0023] Figure 3 This is a top view of a first embodiment of an online adjustable bag clamping device according to the present invention;

[0024] Figure 4 This is a perspective view of a first embodiment of an online adjustable bag clamping device according to the present invention;

[0025] Figure 5 This is a schematic diagram of the combination of a primary translation component, a secondary translation component, and a load-bearing component in a first embodiment of an online adjustable bag clamping device of the present invention;

[0026] Figure 6 This is a front view of a second embodiment of an online adjustable bag clamping device according to the present invention;

[0027] Figure 7 This is a perspective view of a second embodiment of an online adjustable bag clamping device according to the present invention;

[0028] Figure 8 This is a schematic diagram illustrating the combination of a primary translation component, a secondary translation component, a linear pushing unit, and a load-bearing component in a second embodiment of an online adjustable bag clamping device of the present invention. Figure I ;

[0029] Figure 9This is a schematic diagram illustrating the combination of a primary translation component, a secondary translation component, a linear pushing unit, and a load-bearing component in a second embodiment of an online adjustable bag clamping device of the present invention. Figure II ;

[0030] Figure 10 This is a schematic diagram illustrating the combination of a primary translation component, a secondary translation component, a linear pushing unit, and a load-bearing component in a second embodiment of an online adjustable bag clamping device of the present invention. Figure III ;

[0031] Figure 11 This is a schematic diagram illustrating the use of the combination of the primary translation component, the secondary translation component, the linear pushing unit, and the load-bearing component in a third embodiment of the online adjustable bag clamping device of the present invention. Detailed Implementation

[0032] like Figure 1 , 2 As shown in Figures 3, 4, and 5, this is the first embodiment of the present invention.

[0033] The online adjustable bag clamping device includes a mounting frame 1, a primary translation component, a secondary translation component, and a load-bearing component 2. The primary translation component, the secondary translation component, and the load-bearing component 2 are all located on the mounting frame 1.

[0034] The mounting frame 1 is equipped with two primary translation components. Each primary translation component includes a load-bearing component 3, a guide rod 4, and a power assembly I 5.

[0035] Power assembly I5 provides the power to drive the movement of the load 3. Power assembly I5 includes a synchronous belt, pulleys, drive shaft 6, auxiliary shaft 7, motor, and reducer. The motor is connected to the reducer and is mounted on the mounting frame 1 via the reducer. The auxiliary shaft 7 is longer than the drive shaft 6. Both are movably mounted on the mounting frame 1 and are parallel to each other. One end of the auxiliary shaft 7 is fixedly connected to the output shaft of the reducer via a drive belt. The auxiliary shaft 7 has pulleys, and the drive shaft 6 has pulleys. The auxiliary shaft 7 and the drive shaft 6 are connected by a drive belt mounted on the pulleys. When the auxiliary shaft 7 rotates, the drive shaft 6 rotates synchronously. Thus, the drive shaft 6 is indirectly connected to the reducer. The online adjustable bag clamping device has two primary translation components, resulting in two power assemblies I5 and two drive shafts 6. The synchronous belt is mounted on the drive shaft 6 via pulleys. The synchronous belt requires two pulleys to unfold into an arc-shaped structure at both ends and a straight middle section. Two drive shafts 6 are distributed on both sides of the mounting frame 1. The drive shaft 6 of any one of the power components I5 of the first-stage translation component is fixedly connected to the pulley by a key, and the drive shaft 6 of any one of the power components I5 is movably connected to the pulley of the other power component I5 by a bearing 20. In this way, the pulleys share the drive shaft 6 of the other power component I5, thereby reasonably reducing the number of parts in the entire online adjustable clamping device. The two power components I5 can operate independently. The start of the motor of either power component I5 and the rotation of the synchronous belt will not affect the movement of the synchronous belt of the other power component I5.

[0036] Guide rod 4 is fixedly mounted on mounting frame 1, and is perpendicular to drive shaft 6. Load 3 is movably mounted on guide rod 4, allowing it to slide freely in a direction perpendicular to the centerline of drive shaft 6. The straight section of the synchronous belt on power assembly I5 is fixedly connected to load 3, serving as its power output and providing power to load 3. When the synchronous belt rotates, it drives load 3 to move along guide rod 4. Because power assemblies I5 on the two primary translation components can move independently, load 3 on the two primary translation components can move synchronously towards each other, synchronously in opposite directions, synchronously in the same direction, asynchronously towards each other, asynchronously in opposite directions, or asynchronously in the same direction. Load 3 exhibits extremely high freedom of movement.

[0037] The secondary translation components include guide rails and power assembly II8.

[0038] Power assembly II 8 includes a synchronous belt, pulleys, a splined shaft 9, a motor, and a reducer. The motor is connected to the reducer and is mounted on the mounting frame 1 via the reducer. The splined shaft 9 is movably mounted on the mounting frame 1, parallel to the guide rod 4 of the first-stage translation component, and is connected to the reducer via a transmission belt. Power assembly II 8 has two synchronous belts, which are respectively arranged on two load-bearing components 3. The pulleys are mounted on the load-bearing components 3, and the synchronous belts are mounted on the pulleys. Each synchronous belt is unfolded to form an unfolded structure with arc-shaped ends and a straight middle. One of the pulleys of the synchronous belts on each load-bearing component 3 is movably connected to the splined shaft 9. The pulley has a transmission key inside, which corresponds to the transmission key on the splined shaft 9. The pulley meshes with the splined shaft 9, and can translate along the center line of the splined shaft 9. The pulley moves synchronously with the splined shaft 9 in the circumferential direction around the center line of the splined shaft 9. The straight section formed by the unfolding of the synchronous belt is perpendicular to the guide rod 4 of the first-stage translation component. The straight section of each synchronous belt serves as the power output end of the power assembly II 8. Since the power assembly II 8 has two synchronous belts, and both synchronous belts transmit power based on the same spline shaft 9 and operate synchronously between the two synchronous belts, the power assembly II 8 has two power output sections that move synchronously in the same direction.

[0039] The secondary translation component includes two guide rails, each consisting of a linear slide rail and a sliding sleeve. The linear slide rails are respectively mounted on two load-bearing components 3, and are perpendicular to the guide rod 4 of the primary translation component. A load-bearing component 2 is mounted on each load-bearing component 3, and a sliding sleeve is installed on the load-bearing component 2. The load-bearing component 2 is mounted on the load-bearing component 3 by means of the sliding sleeve and is connected to the linear slide rail. After installation, the load-bearing component 2 can slide on the load-bearing component 3, and the direction of this sliding motion is perpendicular to the center line of the guide rod 4 of the primary translation component. The straight section of the synchronous belt of the power assembly II 8, i.e., the power output end, is fixedly connected to the load-bearing component 2, so that the two load-bearing components 2 can perform linear motion under the drive of the secondary translation component. The load-bearing component 2 is mounted on the load-bearing component 3, which is part of the primary translation component; therefore, the load-bearing component 2 is also driven by the primary translation component and performs linear motion after being driven. The direction of motion of the load-bearing component 2 driven by the primary translation component is perpendicular to the direction of motion of the load-bearing component 2 driven by the secondary translation component.

[0040] The load-bearing component 2 is formed by bending a sheet metal plate. It has an L-shaped load-bearing portion 10. The inner side of the load-bearing portion 10 has a clamping surface 11 and a load-bearing surface 12. Both the clamping surface 11 and the load-bearing surface 12 are planar structures. In the working state, the clamping surface 11 is in a vertical plane, and the load-bearing surface 12 is in a horizontal plane. One load-bearing component 2 is installed on one load-bearing component 3, and another load-bearing component 2 is installed on another load-bearing component 3. The clamping surfaces 11 of the load-bearing portions 10 of the two load-bearing components 2 face each other and are parallel to each other. The load-bearing surfaces 12 of the load-bearing portions 10 of the two load-bearing components 2 are separated in the vertical direction and are parallel to each other. A material conveying channel, open at both ends and closed in the middle, is naturally formed between the two load-bearing components 2. The degree of closure of the middle part of the material conveying channel is related to the degree of overlap of the bearing parts 10 of the two load-bearing components 2; the greater the overlap, the higher the degree of closure, and vice versa. The extension direction of the material conveying channel is parallel to the extension direction of the transmission shaft 6, that is, the extension direction of the material conveying channel is parallel to the direction in which the secondary translation component drives the load-bearing component 2 to move. The load-bearing component 2 is linked with the load-bearing component 3. Therefore, only when the primary translation component drives the load-bearing component 3 to move, the load-bearing components 2 will exhibit an open state with increased spacing, a closed state with decreased spacing, and a lateral translation state in which the spacing between the two load-bearing components 2 remains unchanged and moves to one side. Only when the secondary translation component drives the load-bearing component 2 to move, the load-bearing components 2 will exhibit a longitudinal translation state in which the spacing between the two load-bearing components 2 remains unchanged and moves to one side. Therefore, the distance between the load-bearing components 2 is adjustable, and the initial position of the load-bearing components 2 on the mounting frame 1 is adjustable, which makes the online adjustable clamping device highly flexible and applicable.

[0041] Before use, the online adjustable clamping device needs to be installed as a fixture on the six-joint robot, with each motor connected to the control components. In the initial state, the primary translation component drives the load 3 to move, which directly drives the load-bearing component 2. The load 3 is placed in the middle area of ​​the mounting frame 1. Simultaneously, the secondary translation component drives the load-bearing component 2 to move, ultimately ensuring that the load-bearing component 2 is placed in the center position of the mounting frame 1. The two load-bearing components 2 are in a closed state. The spacing between the load-bearing components 2 can be controlled by the counter-clockwise movement of the two synchronous belts of the primary translation component, thus the spacing of the load-bearing components 2 is adjustable. The initial position of the load-bearing component 2 on the mounting frame 1 can also be controlled by the unidirectional movement of the two synchronous belts of the primary translation component; similarly, the initial position of the load-bearing component 2 on the mounting frame 1 can be controlled by the unidirectional movement of the two synchronous belts of the secondary translation component. Therefore, the initial position setting of the load-bearing component 2 on the mounting frame 1 has a very high degree of freedom.

[0042] In use, when the item is within the clamping range, the online adjustable clamping device is placed above the item. After the carrier 3 opens, the online adjustable clamping device descends to the vicinity of the carrier 3 and the item. Then, the carrier 3 closes, and the bearing part 10 of the load-bearing member 2 inserts into the bottom of the item to clamp it, placing the item within the conveying channel. To avoid the item being subjected to unreasonable external forces, the carrier 3 and the item can maintain a connection where the carrier surface 12 of the carrier 3 provides support to the item, so the item is only subjected to supporting force. Alternatively, for the purpose of rapid handling of items, a tight connection needs to be established between the carrier 3 and the item, where the carrier surface 12 of the carrier 3 provides support and the clamping surface 11 provides clamping.

[0043] After the online adjustable gripper establishes a connection with the item, the six-joint robot lifts the online adjustable gripper and the item, placing the item in the designated position. When there is sufficient space in the stacking area, simply opening the load-bearing component 2 and releasing the item from under the online adjustable gripper completes the stacking process. Releasing the item from under the online adjustable gripper only requires activating the first-level translation component. When there is insufficient space in the stacking area, the item can be pushed out from the side of the online adjustable gripper. In this case, firstly, the gripping relationship between the load-bearing component 2 and the item is released, i.e., the first-level translation component is activated to disengage the gripping connection between the load-bearing component 2 and the item. After the gripping connection between the load-bearing component 2 and the item is released or confirmed to be gone, the second-level translation component is activated. The two load-bearing components 2 move the item towards one side of the online adjustable gripper as a whole. After this stage, the carrying component 3 will protrude from one side of the online adjustable gripper, and the carrying component 3 and the item will enter the designated position together. The item and the stacking area are separated only by the carrying component 3. Finally, the worker simply uses the workpiece to hold the item in place, and the secondary translation component reverses the movement of the two load-bearing components 2, causing a relative reverse movement between the load-bearing components 2 and the item. This allows the item to detach from the conveying channel from the side of the online adjustable clamping device and finally fall into the designated position. After the item detaches from the conveying channel, the online adjustable clamping device returns to its initial state.

[0044] In the above process, the online adjustable clamping device serves as a special workpiece for packaging heavy cardboard boxes, and can effectively replace manual handling of items.

[0045] like Figure 6 , 7 As shown in Figures 8, 9, and 10, this is a second embodiment of the present invention. The difference between this embodiment and the first embodiment is that the stacking device further includes a unidirectional pushing component, which functions to mechanically replace manual support of the items. This embodiment can be understood based on the component names and reference numerals in the first embodiment.

[0046] The unidirectional pushing component includes a power assembly Ⅲ21 and a linear pushing unit, wherein the linear pushing unit includes a guide plate 14, a slide table 15, and a push plate 16. The guide plate 14 is fixedly mounted on the load 3 of one of the primary translation components. The slide table 15 is slidably mounted on the load 3 and can perform linear sliding motion on the load 3. The direction of movement of the slide table 15 on the load 3 is parallel to the extension direction of the conveying channel. The push plate 16 is movably mounted on the slide table 15 and can swing on the slide table 15. The joint between the push plate 16 and the slide table 15 is biased towards one end of the push plate 16, which makes the length of the push plate 16 on the slide table 15 different on both sides of the fulcrum obtained based on the slide table 15, i.e., one side is longer and the other side is shorter. The guide plate 14 is provided with a guide groove 17, which consists of a push-holding part 18 and a lifting guide part 19. The push-holding part 18 is straight and its extension direction is parallel to the extension direction of the material conveying channel. The push-holding part 18 and the lifting guide part 19 are connected, and the lifting guide part 19 is located at one end of the push-holding part 18. Because the lifting guide part 19 is arc-shaped, it deviates from the extension direction of the push-holding part 18. The shorter end of the push plate 16 located on the fulcrum side is provided with a bearing 20. The center line of the bearing 20 is perpendicular to the extension direction of the push plate 16, and the bearing 20 is embedded in the guide groove 17. After the push plate 16 moves on the guide plate 14, when one end of the push plate 16 is in the push-holding part 18, the other end of the push plate 16 remains in a vertical position. After one end of the push plate 16 enters the lifting guide part 19, the other end of the push plate 16, which is the longer end on the other side of the fulcrum, changes from a vertical position to an inclined position and finally to a horizontal position.

[0047] The power assembly Ⅲ21 includes a synchronous belt, pulleys, a splined shaft 22, a motor, and a reducer. The motor and reducer are assembled and mounted on the mounting frame 1. The motor is mounted on the mounting frame 1 via the reducer, and a pulley is mounted on the output shaft of the reducer. The splined shaft 22 is movably mounted on the mounting frame 1, and its centerline is parallel to the guide rod 4 of the first-stage translation component. The splined shaft 22 can rotate on the mounting frame 1. A pulley is also mounted on the splined shaft 22. The splined shaft 22 is connected to the reducer via a transmission belt mounted on the pulley. A synchronous belt is mounted on the carrier 3 via pulleys. One of the pulleys is movably connected to the splined shaft 22. A transmission key is located on the inner side of the pulley, and the pulley connects to the splined shaft 22 via this key. The pulley can translate along the centerline of the splined shaft 22. When the splined shaft 22 rotates, it drives the synchronous belt. The synchronous belt, mounted on the pulleys, unfolds on the carrier 3 to form a straight section, which serves as the power output section and is fixedly connected to the slide table 15. When the power assembly Ⅲ21 drives the slide table 15, the push plate 16 is also driven.

[0048] The linear push unit is a linear cam structure. The push plate 16 is constrained by the slide table 15 and the guide plate 14 at the guide groove 17, causing the push plate 16 to change its spatial orientation according to the structure of the guide groove 17. The range of motion of the push plate 16 intersects with the material conveying channel. The end of the push plate 16 that can extend into the material conveying channel is the longer end of the push plate 16 on the other side of the fulcrum. After being driven, the push plate 16 moves along the guide plate 14, and the orientation of the end that can extend into the material conveying channel includes a vertical orientation, an inclined orientation, and a horizontal orientation. When the end of the push plate 16 extends into the material conveying channel, it is only in a vertical orientation; when it is out of the material conveying channel, it is in an inclined orientation and a horizontal orientation. In the initial state, the push plate 16 is out of the material conveying channel and is in a horizontal orientation. In use, when the item is in the designated position but still within the conveying channel, the pusher plate 16 moves towards the item's location. The pusher plate 16 changes from a horizontal to an inclined position, and then to a vertical position, while continuously moving closer to the item's location. This continues until the pusher plate 16 presses against the item. At this point, the operation of the pusher plate 16 on the item is equivalent to replacing the manual pressing operation of the item in the embodiment. The load-bearing member 2 moves in the direction of detaching from the item, and the pusher plate 16 continues to maintain the state of pressing against the item under the drive of the power component Ⅲ21 until the item is completely detached from the conveying channel.

[0049] like Figure 11 As shown, this is a third embodiment of the present invention. This embodiment differs from the first embodiment in that the stacking device further includes a unidirectional pushing component, which functions to mechanically replace manual support of the items. This embodiment can be understood based on the component names and reference numerals in the first and second embodiments.

[0050] The unidirectional pushing component includes a power assembly Ⅲ21 and a linear pushing unit, wherein the linear pushing unit includes a guide plate 14, a slide table 15, and a push plate 16. The guide plate 14 is fixedly mounted on the load 3. The slide table 15 is slidably mounted on the load 3 and can perform linear sliding motion on the load 3. The direction of movement of the slide table 15 on the load 3 is parallel to the extension direction of the material conveying channel. The push plate 16 is movably mounted on the slide table 15 and can swing on the slide table 15. The joint between the push plate 16 and the slide table 15 is biased towards one end of the push plate 16, which makes the length of the push plate 16 on the slide table 15 different on both sides of the fulcrum obtained based on the slide table 15, i.e., one side is longer and the other side is shorter. The slide table 15 is equipped with a limiting protrusion 13, which is located within the range of the push plate 16's swinging motion on the slide table 15. When the push plate 16 swings, the shorter end of the push plate 16 on the fulcrum side is blocked by the limiting protrusion 13. At this time, the longer end of the push plate 16 on the fulcrum side is in a vertical posture and tends to move away from the material conveying channel. After the push plate 16 moves in the opposite direction, the shorter end of the push plate 16 on the fulcrum side is not restricted by the limiting protrusion 13, and the longer end of the push plate 16 on the fulcrum side swings according to the external force, changing from a vertical posture to an inclined posture or a horizontal posture. Thus, the swinging motion of the push plate 16 has a limited range of motion, which macroscopically manifests as the linear pushing unit having a unidirectional passage characteristic at the push plate 16. In the initial state, the push plate 16 is in a vertical posture at its longer end on the fulcrum side due to its own weight.

[0051] The power assembly Ⅲ21 includes a synchronous belt, pulleys, a splined shaft 22, a motor, and a reducer. The motor and reducer are assembled and mounted on the mounting frame 1. The motor is mounted on the mounting frame 1 via the reducer, and a pulley is mounted on the output shaft of the reducer. The splined shaft 22 is movably mounted on the mounting frame 1, and its centerline is parallel to the guide rod 4 of the first-stage translation component. The splined shaft 22 can rotate on the mounting frame 1. A pulley is also mounted on the splined shaft 22. The splined shaft 22 is connected to the reducer via a transmission belt mounted on the pulley. A synchronous belt is mounted on the carrier 3 via pulleys. One of the pulleys is movably connected to the splined shaft 22. A transmission key is located on the inner side of the pulley, and the pulley connects to the splined shaft 22 via this key. The pulley can translate along the centerline of the splined shaft 22. When the splined shaft 22 rotates, it drives the synchronous belt. The synchronous belt, mounted on the pulleys, unfolds on the carrier 3 to form a straight section, which serves as the power output section and is fixedly connected to the slide table 15. When the power assembly Ⅲ21 drives the slide table 15, the push plate 16 is also driven.

[0052] The range of motion of the push plate 16 intersects with the conveying channel. Initially, the push plate 16 is detached from the conveying channel. When gripping an item, it can be inserted from the side of the online adjustable clamping device or after the load-bearing member 2 is unfolded. If the item is inserted into the conveying channel from the side, the item will first touch the push plate 16, pushing the longer end of the push plate 16 on the fulcrum side towards the location of the conveying channel, gradually changing the push plate 16 from a vertical posture to an inclined posture. If the item is tall, the push plate 16 will eventually reach a horizontal posture. In use, the item is just in the designated position but still in the conveying channel, and the push plate 16 moves towards the location of the item; the push plate 16 maintains a vertical posture while its spatial position continuously moves closer to the location of the item; until the push plate 16 presses against the item, at which point the operation of the push plate 16 on the item is equivalent to replacing the operation of manually pressing against the item in the embodiment. The load-bearing member 2 moves in the direction of detaching from the item, and the push plate 16 continues to maintain the state of pressing against the item under the drive of the power component Ⅲ21 until the item is completely detached from the conveying channel.

[0053] The fourth embodiment of the present invention differs from the first embodiment in that the stacking device further includes a one-way pushing component, which functions to mechanically replace manual support of the items.

[0054] The unidirectional pushing component includes a power assembly III and a linear pushing unit, wherein the linear pushing unit includes a guide plate, a slide table, and a push plate. The guide plate is fixedly mounted on the load. The slide table is slidably mounted on the load and can perform linear sliding motion on the load. The direction of movement of the slide table on the load is parallel to the extension direction of the material conveying channel. The push plate is fixedly mounted on the slide table and always maintains a vertical posture.

[0055] Power assembly III includes a synchronous belt, pulleys, a splined shaft, a motor, and a reducer. The motor and reducer are combined and mounted on a mounting frame. The motor is mounted on the mounting frame via the reducer, and a pulley is mounted on the output shaft of the reducer. The splined shaft is movably mounted on the mounting frame, with its centerline parallel to the guide rod of the first-stage translation component. The splined shaft can rotate on the mounting frame, and a pulley is also mounted on it. The splined shaft and reducer are connected via a transmission belt mounted on the pulleys. The synchronous belt is mounted on the load via pulleys. One of the pulleys is movably connected to the splined shaft. A transmission key is located on the inner side of the pulley, and the pulley connects to the splined shaft via this key. The pulley can translate along the centerline of the splined shaft. When the splined shaft rotates, it drives the synchronous belt. The synchronous belt, mounted on the pulleys, unfolds on the load to form a straight section, which serves as the power output section and is fixedly connected to the slide. If the power component III drives the slide table, then the push plate is also driven.

[0056] The pusher plate's range of motion intersects with the conveying channel. Initially, the pusher plate is detached from the conveying channel, and there is a large distance between the pusher plate and the load-bearing component, facilitating the insertion of items into the conveying channel from the side. When gripping items, items can be inserted from the side of the online adjustable clamping device or gripped after the load-bearing component unfolds. In use, the item is positioned at the designated location but still within the conveying channel, and the pusher plate moves towards the item's location. The pusher plate maintains a vertical posture while continuously moving closer to the item's location in space until it presses against the item. At this point, the pusher plate's operation on the item essentially replaces the manual pressing operation of the item in the embodiment. The load-bearing component moves in the direction of detachment from the item, and the pusher plate continues to press against the item under the drive of power component III until the item is completely detached from the conveying channel.

[0057] The fifth embodiment of the present invention differs from the first embodiment in that one end of the drive shaft in power assembly I is fixedly connected to the output shaft of the reducer via a drive belt, and the structure of the drive shaft directly connecting to the reducer avoids the structural factors of the auxiliary shaft.

[0058] The sixth embodiment of the present invention differs from the second embodiment in that one end of the drive shaft in power assembly I is fixedly connected to the output shaft of the reducer via a drive belt, and the structure of the drive shaft directly connecting to the reducer avoids the structural factors of the auxiliary shaft.

[0059] The seventh embodiment of the present invention differs from the third embodiment in that one end of the drive shaft in power assembly I is fixedly connected to the output shaft of the reducer via a drive belt, and the structure of the drive shaft directly connecting to the reducer avoids the structural factors of the auxiliary shaft.

[0060] The eighth embodiment of the present invention differs from the fourth embodiment in that one end of the drive shaft in power assembly I is fixedly connected to the output shaft of the reducer via a drive belt, and the structure of the drive shaft directly connecting to the reducer avoids the structural factors of the auxiliary shaft.

Claims

1. An online adjustable bag clamping device, characterized in that: The online adjustable clamping device includes a mounting frame (1), a primary translation component, a secondary translation component, and a load-bearing component (2). The primary translation component and the secondary translation component are both mounted on the mounting frame (1). The mounting frame (1) has two primary translation components, each of which has a load-bearing component (3). The secondary translation component has two power output parts that move synchronously in the same direction and two guide rails. The two guide rails are distributed on the two load-bearing components (3). The load-bearing component (2) is mounted on the load-bearing component (3) through the guide rails of the secondary translation component. The load-bearing component (2) is connected to the power output part of the secondary translation component. A material conveying channel is formed between the load-bearing components (2). The direction in which the primary translation component drives the load-bearing component (2) to move is perpendicular to the direction in which the secondary translation component drives the load-bearing component (2) to move. The extension direction of the material conveying channel is parallel to the direction in which the secondary translation component drives the load-bearing component (2) to move. The first-level translation component also includes a guide rod (4) and a power assembly I (5). The power assembly I (5) is provided with a power output part. The guide rod (4) is fixedly installed on the mounting frame (1). The load (3) is movably installed on the guide rod (4) in a sliding manner. The power output part of the power assembly I (5) is connected to the load (3) and the power assembly I (5) drives the load (3) to move. The secondary translation component is also provided with a power assembly II (8), which includes a synchronous belt, pulleys, a splined shaft, a motor, and a reducer. The motor is connected to the reducer and is mounted on the mounting frame (1) through the reducer. The splined shaft is movably mounted on the mounting frame (1). The synchronous belt is mounted on the load-bearing component (3) through the pulleys. One of the pulleys is movably connected to the splined shaft. The synchronous belt is fixedly connected to the load-bearing component (2). The splined shaft is connected to the reducer through a transmission belt.

2. The online adjustable bag clamping device according to claim 1, characterized in that: The power assembly I (5) includes a synchronous belt, pulleys, a drive shaft (6), a motor, and a reducer. The motor is connected to the reducer and is mounted on the mounting frame (1) via the reducer. The synchronous belt is mounted on the drive shaft (6) via the pulleys. The drive shaft (6) is movably mounted on the mounting frame (1). The drive shaft (6) is connected to the reducer. The synchronous belt is fixedly connected to the load (3). The extension direction of the drive shaft (6) is parallel to the extension direction of the material conveying channel.

3. The online adjustable bag clamping device according to claim 2, characterized in that: The drive shaft (6) of any one primary translation component I (5) is fixedly connected to the pulley, and the drive shaft (6) of any one primary translation component I (5) is movably connected to the pulley of another power component I (5).

4. The online adjustable bag clamping device according to claim 1, characterized in that: The load-bearing component (2) is provided with an L-shaped load-bearing part (10), and the load-bearing part (10) is provided with a clamping surface (11) and a loading surface (12). The clamping surfaces (11) of the load-bearing parts (10) of the two load-bearing components (2) face each other, and the loading surfaces (12) of the two load-bearing components (2) are separated in the vertical direction.

5. The online adjustable bag clamping device according to claim 1, characterized in that: The online adjustable bag clamping device includes a one-way pushing component, which is installed on the loading part (3) of one of the primary translation components. The one-way pushing component includes a power assembly III (21) and a linear pushing unit. The linear pushing unit includes a guide plate (14), a slide table (15), and a push plate (16). The guide plate (14) is fixedly installed on one of the loading parts (3). The slide table (15) is movably installed on the loading part (3) in a linear sliding manner. The direction of movement of the slide table (15) on the loading part (3) is parallel to the extension direction of the material conveying channel. The push plate (16) is movably installed on the slide table (15) and can swing on the slide table (15). The guide plate (14) is provided with The guide groove (17) is provided with a push holding part (18) and a lifting guide part (19). The push holding part (18) and the lifting guide part (19) are connected. The push holding part (18) is straight and its extension direction is parallel to the extension direction of the material conveying channel. The lifting guide part (19) is deviated from the extension direction of the push holding part (18). The power component III (21) is provided with a power output part. The power output part is connected to the slide table (15) and the power component III (21) drives the push plate (16) to move. The movement range of the other end of the push plate (16) intersects with the material conveying channel.

6. The online adjustable bag clamping device according to claim 1, characterized in that: The online adjustable bag clamping device includes a one-way pushing component, which is installed on the loading component (3) of one of the primary translation components. The one-way pushing component includes a power component III (21) and a linear pushing unit. The linear pushing unit includes a guide plate (14), a slide table (15), and a push plate (16). The guide plate (14) is fixedly installed on the loading component (3). The slide table (15) is movably installed on the loading component (3) in a linear sliding manner. The push plate (16) is movably installed on the slide table (15) and can swing on the slide table (15). The slide table (15) is provided with a limiting protrusion (13). The limiting protrusion (13) is located within the range of motion of one end of the push plate (16). The movement direction of the slide (15) on the load (3) is parallel to the extension direction of the material conveying channel. The power assembly III (21) is provided with a power output part. The power output part is connected to the slide (15) and the power assembly III (21) drives the push plate (16) to move. The range of motion of the other end of the push plate (16) intersects with the material conveying channel.

7. The online adjustable bag clamping device according to claim 1, characterized in that: The online adjustable clamping device includes a one-way pushing component, which is installed on the loading part (3) of one of the primary translation components. The one-way pushing component includes a power component III (21) and a linear pushing unit. The linear pushing unit includes a guide plate (14), a slide table (15), and a push plate (16). The guide plate (14) is fixedly installed on the loading part (3). The slide table (15) is movably installed on the loading part (3) in a linear sliding manner. The push plate (16) is fixedly installed on the slide table (15) in a vertical posture. The movement direction of the slide table (15) on the loading part (3) is parallel to the extension direction of the material conveying channel. The power component III (21) is provided with a power output part. The power output part is connected to the slide table (15) and the power component III (21) drives the push plate (16) to move. The movement range of the push plate (16) intersects with the material conveying channel.

8. The online adjustable bag clamping device according to claim 5, 6, or 7, characterized in that: The power assembly III (21) includes a timing belt, pulleys, a splined shaft, a motor, and a reducer. The motor is connected to the reducer and is mounted on the mounting frame (1) via the reducer. The splined shaft is movably mounted on the mounting frame (1). The timing belt is mounted on the load (3) on which the guide plate (14) is mounted via pulleys. One of the pulleys is movably connected to the splined shaft. The timing belt is fixedly connected to the slide table (15). The splined shaft is connected to the reducer.

Images