A palletizing claw device

Abstract

This application discloses a palletizing gripper device, relating to the field of automation technology. The palletizing gripper device includes a first drive mechanism and a palletizing gripper mechanism. The first drive mechanism is connected to the palletizing gripper mechanism and is used to control the lifting and lowering of the palletizing gripper mechanism. The palletizing gripper mechanism includes a clamping motor, a second drive mechanism, and multiple gripper assemblies. The second drive mechanism includes a main gear and a number of auxiliary gears equal to the number of gripper assemblies. The clamping motor is connected to the main gear, and the main gear is simultaneously connected to all the auxiliary gears. Each auxiliary gear is connected to a corresponding gripper assembly. The clamping motor drives the main gear to rotate, and the auxiliary gears are driven to control the opening and closing of the gripper assemblies. This application can improve the handling and positioning accuracy of palletizing equipment and increase palletizing efficiency.

Description

Technical Field

[0001] This application relates to the field of automation technology, and in particular to a palletizing gripper device. Background Technology

[0002] In the field of machinery and equipment, product handling is common, and palletizing is a frequent automation requirement. Automatic palletizers are high-tech products integrating mechatronics. Low-to-medium level palletizers can meet the needs of low-to-medium output production. They can palletize various products such as bags, plastic blocks, and boxes according to the required grouping methods and number of layers. The optimized design of the palletizing grippers allows for a more compact and neat stack.

[0003] Traditional palletizing machines use grippers with adjustable gripping strokes based on product size. They typically employ trapezoidal lead screws or pneumatic cylinders for telescopic drive, with lead screws using a forward and reverse thread design and pneumatic cylinders using a standard telescopic design. However, traditional grippers can only open and close in a single coordinate direction. When palletizing general goods, they sometimes fail to hold the product securely, causing it to fall and resulting in damage. Furthermore, traditional palletizing grippers can only palletize one unit at a time, lacking multi-station palletizing capabilities, making efficiency difficult to achieve. Therefore, improving the handling and positioning accuracy of palletizing equipment and increasing palletizing efficiency are pressing technical problems that need to be solved. Summary of the Invention

[0004] Therefore, it is necessary to provide a palletizing gripper device that can improve the handling and positioning accuracy of palletizing equipment and improve palletizing efficiency, addressing at least one of the technical problems mentioned in the background art above.

[0005] The specific technical solutions provided in this application are as follows:

[0006] In a first aspect, a palletizing gripper device is provided, comprising:

[0007] A first drive mechanism and a palletizing gripper mechanism, wherein the first drive mechanism is connected to the palletizing gripper mechanism and the first drive mechanism is used to control the lifting and lowering of the palletizing gripper mechanism;

[0008] The palletizing gripper mechanism includes a clamping motor, a second drive mechanism, and multiple gripper assemblies. The second drive mechanism includes a main gear and a secondary gear, and the number of secondary gears is the same as the number of gripper assemblies.

[0009] The clamping motor is connected to the main gear, and the main gear meshes with all the secondary gears simultaneously. Each secondary gear is connected to a corresponding gripper assembly. The clamping motor drives the main gear to rotate, and the secondary gears are driven to control the opening and closing of the gripper assembly.

[0010] Furthermore, the gripper assembly includes a gripper shaft, multiple shaft connecting rods, and a gripper body, wherein the number of gripper bodies is the same as the number of shaft connecting rods;

[0011] The gripper shaft is connected to all the shaft links, and each shaft link is connected to one side of the corresponding gripper body.

[0012] Furthermore, the gripper assembly also includes a gripper slide rail, and the other side of the gripper body connected to the rotating shaft connecting rod is connected to the gripper slide rail.

[0013] Furthermore, the gripper body includes a gripper connecting plate and a gripper sheet metal part. One end of the gripper connecting plate is connected to the rotating shaft connecting rod, and the other end of the gripper connecting plate is connected to the gripper sheet metal part.

[0014] Furthermore, the gripper connecting plate is also connected to a swing drive motor, which is connected to the gripper sheet metal part. The swing drive motor is used to receive pulse signals to control the gripper sheet metal part to swing according to a preset swing mode.

[0015] Furthermore, the preset swing pattern includes at least one of the following:

[0016] Swinging outward from the gripper body at a first preset angle to the vertical direction, swinging inward from the gripper body at a second preset angle to the vertical direction, and swinging along the vertical direction.

[0017] Furthermore, the first drive mechanism includes a lifting drive motor, a lifting mounting plate, a lead screw, a lifting base plate, a sliding assembly, and a bearing; the palletizing gripper mechanism also includes a connecting plate.

[0018] The lifting drive motor is mounted on the lifting mounting plate, one end of the lead screw is connected to the lifting drive motor, and the other end of the lead screw is connected to the bearing mounted on the lifting base plate;

[0019] One end of the sliding component is connected to the lead screw, and the other end of the sliding component passes through the lifting base plate and is connected to the connecting plate;

[0020] The lifting drive motor is used to drive the lead screw to rotate in order to control the palletizing gripper mechanism to lift and lower through the sliding assembly.

[0021] Furthermore, the first drive mechanism also includes a side wall, one end of which is connected to the lifting mounting plate and the other end of which is connected to the lifting base plate. The sliding assembly includes a slide rail slider, which is mounted on the side wall.

[0022] Furthermore, a switch assembly is also provided on the lifting base plate, which is used to control the palletizing gripper mechanism to lift and lower.

[0023] Furthermore, the switch assembly is a fork-type switch, which includes a home position, an upper limit position, and a lower limit position.

[0024] The embodiments of this application have the following beneficial effects:

[0025] The palletizing gripper device provided in this application embodiment can control the lifting and lowering of the palletizing gripper mechanism through a first drive mechanism, thereby achieving accurate positioning of the palletizing gripper mechanism in the vertical direction; since multiple gripper assemblies are configured, the palletizing efficiency can be greatly improved compared to single-station palletizing; in addition, by opening and closing multiple gripper bodies in different directions, the goods can be better gripped during palletizing to prevent them from falling off, thereby preventing damage to the goods. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This diagram illustrates the structure of the palletizing gripper device provided in an embodiment of this application.

[0028] Figure 2 This diagram shows a structural schematic of a first drive mechanism according to an embodiment of the present application;

[0029] Figure 3 This diagram illustrates the structure of a palletizing gripper mechanism according to an embodiment of the present application.

[0030] Figure 4 A schematic diagram of the specific structure of a palletizing gripper mechanism according to an embodiment of this application is shown;

[0031] Figure 5 A bottom view of a gripper assembly according to an embodiment of this application is shown;

[0032] Figure 6 This invention provides a schematic diagram of the specific structure of a gripper assembly according to an embodiment of the present application.

[0033] Figure 7 This diagram shows a structural schematic of a gripper body according to an embodiment of the present application;

[0034] Reference numerals: 1. First drive mechanism; 11. Lifting drive motor; 12. Lifting mounting plate; 13. Lead screw; 14. Lifting base plate; 15. Sliding assembly; 16. Bearing; 17. Switch assembly; 2. Palletizing gripper mechanism; 21. Clamping motor; 22. Connecting plate; 23. Second drive mechanism; 231. Main gear; 232. Secondary gear; 24. Gripper assembly; 241. Gripper shaft; 242. Gripper slide rail; 243. Gripper body; 2431. Gripper connecting plate; 2432. Gripper sheet metal part; 2433. Swing drive motor; 244. Shaft connecting rod. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] It should be understood that, in the description of this application, unless the context explicitly requires it, the words "comprising," "including," and similar terms throughout the specification and claims should be interpreted as encompassing rather than being exclusive or exhaustive; that is, meaning "including but not limited to."

[0037] It should also be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0038] Example 1

[0039] This application provides a palletizing gripper device, as shown in the reference. Figure 1 , Figure 3 as well as Figure 4 The system includes a first drive mechanism 1 and a palletizing gripper mechanism 2. The first drive mechanism 1 is connected to the palletizing gripper mechanism 2 and controls the lifting and lowering of the palletizing gripper mechanism 2. The palletizing gripper mechanism 2 includes a clamping motor 21, a second drive mechanism 23, and multiple gripper assemblies 24. The second drive mechanism 23 includes a main gear 231 and a number of auxiliary gears 232 equal to the number of gripper assemblies 24. The clamping motor 21 is connected to the main gear 231, which is also connected to all the auxiliary gears 232. Each auxiliary gear 232 is connected to a corresponding gripper assembly 24. The clamping motor 21 drives the main gear 231 to rotate, and the auxiliary gears 232 are driven to control the opening and closing of the gripper assemblies 24.

[0040] Specifically, the first drive mechanism 1 is connected to the palletizing gripper mechanism 2. The first drive mechanism 1 controls the lifting and lowering of the palletizing gripper mechanism 2, thereby achieving accurate vertical positioning of the palletizing gripper mechanism 2. The clamping motor 21 in the palletizing gripper mechanism 2 provides power, driving the main gear 231 in the second drive mechanism 23 to rotate. This causes all the secondary gears 232 connected to the main gear 231 to be driven, and the driven secondary gears 232 control the opening and closing of the gripper assembly 24. By adopting this technique, accurate vertical positioning of the palletizing gripper mechanism 2 can be achieved simultaneously. Furthermore, since multiple gripper assemblies 24 are configured, palletizing efficiency can be greatly improved compared to single-station palletizing.

[0041] In some implementations, refer to Figure 2 The first drive mechanism 1 includes a lifting drive motor 11, a lifting mounting plate 12, a lead screw 13, a lifting base plate 14, a sliding assembly 15, and a bearing 16. The palletizing gripper mechanism 2 also includes a connecting plate 22. The lifting drive motor 11 is mounted on the lifting mounting plate 12. One end of the lead screw 13 is connected to the lifting drive motor 11, and the other end of the lead screw 13 is connected to the bearing 16 mounted on the lifting base plate 14. One end of the sliding assembly 15 is connected to the lead screw 13, and the other end of the sliding assembly 15 passes through the lifting base plate 14 and is connected to the connecting plate 22. The lifting drive motor 11 is used to drive the lead screw 13 to rotate in order to control the palletizing gripper mechanism 2 to lift and lower via the sliding assembly 15.

[0042] Specifically, the lifting drive motor 11 is mounted on the lifting mounting plate 12. The lifting drive motor 11 is connected to the lead screw 13 and provides power to the lead screw 13. The entire first drive mechanism 1 is mounted on the lifting base plate 14. The end of the lead screw 13 away from the lifting drive motor 11 is connected to the bearing 16 mounted on the lifting base plate 14. The bearing 16 provides stability for the lead screw 13 during the lifting movement. The lifting base plate 14 is provided with clearance holes. The sliding component 15 passes through the clearance holes on the lifting base plate 14 and connects to the connecting plate 22 of the palletizing gripper mechanism 2. During the lifting process, the lifting drive motor 11 provides power, the lead screw 13 rotates, driving the sliding component 15 to rise and fall along the length of the lead screw 13, thereby causing the palletizing gripper mechanism 2 connected to the sliding component 15 to rise and fall synchronously. In this embodiment, the sliding component 15 passes through the clearance hole on the lifting base plate 14 and connects to the connecting plate 22 of the palletizing gripper mechanism 2. A clamping motor 21 is installed between the lifting base plate 14 and the connecting plate 22. Its structure is simple and compact, which can make great use of equipment space and reduce the equipment area. At the same time, the first drive mechanism 1 can control the lifting of the palletizing gripper mechanism 2, thereby realizing the accurate positioning of the palletizing gripper mechanism 2 in the vertical direction.

[0043] In some embodiments, the first drive mechanism 1 further includes a side wall, one end of which is connected to the lifting mounting plate 12 and the other end of which is connected to the lifting base plate 14. The sliding assembly 15 includes a slide rail slider, which is mounted on the side wall.

[0044] Specifically, one end of the sidewall is connected to the lifting mounting plate 12, and the other end of the sidewall is connected to the lifting base plate 14. The sidewall further improves the structural stability of the first drive mechanism 1. In particular, one sidewall can be provided on each side of the lead screw 13. Similarly, a set of slide rail sliders is also provided on each side of the lead screw 13. The slide rail sliders facilitate the lifting and lowering of the sliding assembly 15. At the same time, the slide rail sliders are installed on the sidewall, which further improves the stability during the lifting and lowering process.

[0045] In some implementations, refer to Figure 2 The lifting base plate 14 is also equipped with a switch assembly 17, which is used to control the palletizing gripper mechanism 2 to lift.

[0046] In some embodiments, the switch assembly 17 is a fork switch, which includes a home position, an upper limit position, and a lower limit position.

[0047] Specifically, the lifting and lowering of the palletizing gripper mechanism 2 can be controlled by the switch assembly 17. The origin position, upper limit position, and lower limit position correspond to the initial position, highest position, and lowest position of the palletizing gripper mechanism 2, respectively.

[0048] In some implementations, refer to Figure 5 The gripper assembly 24 includes a gripper shaft 241, a plurality of shaft connecting rods 244, and a gripper body 243 in the same number as the shaft connecting rods 244; the gripper shaft 241 is connected to all shaft connecting rods 244 at the same time, and each shaft connecting rod 244 is connected to the corresponding gripper body 243.

[0049] Specifically, the clamping motor 21 provides power, driving the main gear 231 to rotate, which in turn drives the secondary gear 232. This causes the gripper shaft 241, connected to the secondary gear 232, to rotate, resulting in the multiple connecting rods 244 connected to the gripper shaft 241 moving inwards or outwards. When the gripper shaft 241 rotates, causing the connecting rods 244 to move inwards, the gripper body 243 connected to the connecting rods 244 closes inwards; when the gripper shaft 241 rotates, causing the connecting rods 244 to move outwards, the gripper body 243 connected to the connecting rods 244 opens outwards. It is important to note that, unlike ordinary grippers that can only open and close in one direction, this technology, with multiple gripper bodies 243 opening and closing in different directions, better grips goods during stacking to prevent them from falling and thus preventing damage. In particular, the number of gripper bodies 243 can also be set to 4, each evenly arranged at 90° intervals, and each gripper body 243 can move. Of course, it can also be set according to the actual business scenario, so it will not be elaborated here.

[0050] In some implementations, refer to Figure 6 The gripper assembly 24 also includes a gripper slide rail 242, and the gripper body 243, which is connected to the rotating shaft connecting rod 244, is connected to the gripper slide rail 242 on the other side.

[0051] Specifically, a rotating shaft connecting rod 244 is connected to one side of the gripper body 243, and a gripper slide rail 242 is connected to the other side of the gripper body 243. In particular, the rotating shaft connecting rod 244 is connected to the bottom surface of the gripper body 243, and the gripper slide rail 242 is connected to the top surface of the gripper body 243. The gripper slide rail 242 facilitates the inward closing (outward opening and closing) of the gripper body 243 connected to the rotating shaft connecting rod 244 when the gripper rotating shaft 241 rotates, causing the rotating shaft connecting rod 244 to move inward (outward). Simultaneously, the gripper slide rail 242 also restricts the degrees of freedom of the gripper body 243, enabling more precise opening and closing of the gripper assembly 24 and achieving more accurate positioning.

[0052] In some implementations, refer to Figure 7 The gripper body 243 includes a gripper connecting plate 2431 and a gripper sheet metal part 2432. The gripper connecting plate 2431 is connected to the rotating shaft connecting rod 244, and the gripper sheet metal part 2432 is connected to the gripper connecting plate 2431.

[0053] In some implementations, refer to Figure 7 The gripper connecting plate 2431 is also connected to a swing drive motor 2433. The swing drive motor 2433 is connected to the gripper sheet metal part 2432. The swing drive motor 2433 is used to receive pulse signals to control the gripper sheet metal part 2432 to swing according to a preset swing mode.

[0054] Specifically, in the embodiment with a rotating shaft connecting rod 244 and a gripper slide rail 242, the rotating shaft connecting rod 244 is disposed on one side of the gripper connecting plate 2431, and the gripper slide rail 242 is disposed on the other side of the gripper connecting plate 2431. The gripper connecting plate 2431 is used to connect to the main structure, and the gripper sheet metal part 2432 is connected separately to the gripper connecting plate 2431, which facilitates the individual disassembly and replacement of the gripper sheet metal part 2432, improving the durability and maintenance convenience of the gripper body 243. In addition, the swing drive motor 2433 can receive pulse signals from the driver to control the gripper sheet metal part 2432 to swing according to a preset swing mode. It should be noted that the preset swing mode can be manually defined and configured, or it can automatically match a predefined and pre-configured swing mode according to the actual business scenario to flexibly adapt to more scenarios.

[0055] In some implementations, the preset oscillation mode includes at least one of the following:

[0056] It swings outward at a first preset angle to the vertical direction, swings inward at a second preset angle to the vertical direction, and swings along the vertical direction.

[0057] For example, the first preset angle and the second preset angle can be set to 10° to 45°. The first preset angle of each gripper body 243 can be the same or different, and similarly, the second preset angle of each gripper body 243 can also be the same or different. In addition, the first preset angle and the second preset angle of the same gripper body 243 can be the same or different. When there are three or more gripper bodies 243, the first preset angle or the second preset angle of some gripper bodies 243 can be partially the same. The preset swing modes of all gripper bodies 243 in the current palletizing gripper device can be combined into a configuration file and stored in the storage unit of the driver for subsequent recall or modification to adapt to subsequent scenarios. According to different palletizing scenarios, different numbers of gripper assemblies 24, different numbers of gripper bodies 243, and different preset swing modes can be adapted to adapt to various regular or irregular palletizing scenarios, so as to prevent goods from falling and damaging the parts while improving palletizing efficiency.

[0058] In this embodiment, the palletizing gripper mechanism 2 can be raised and lowered by the first drive mechanism 1, thereby achieving accurate positioning of the palletizing gripper mechanism 2 in the vertical direction. Since there are multiple gripper assemblies 24, the palletizing efficiency can be greatly improved compared to single-station palletizing. In addition, the opening and closing of multiple gripper bodies 243 in different directions can better hold the goods when palletizing to prevent them from falling off, thereby preventing damage to the goods.

[0059] Although preferred embodiments have been described in this application, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of this application.

[0060] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A palletizing gripper device, characterized in that, include: A first drive mechanism and a palletizing gripper mechanism, wherein the first drive mechanism is connected to the palletizing gripper mechanism and the first drive mechanism is used to control the lifting and lowering of the palletizing gripper mechanism; The palletizing gripper mechanism includes a clamping motor, a second drive mechanism, and multiple gripper assemblies. The second drive mechanism includes a main gear and a secondary gear, and the number of secondary gears is the same as the number of gripper assemblies. The clamping motor is connected to the main gear, and the main gear meshes with all the secondary gears at the same time. Each secondary gear is connected to a corresponding gripper assembly. The clamping motor is used to drive the main gear to rotate, and the secondary gears are driven to control the opening and closing of the gripper assembly. The gripper assembly includes a gripper shaft, multiple shaft connecting rods, a gripper slide rail, and a gripper body, wherein the number of gripper bodies is the same as the number of shaft connecting rods. The gripper shaft is connected to all the shaft links, and each shaft link is connected to one side of the corresponding gripper body. The other side of the gripper body connected to the shaft link is connected to the gripper slide rail.

2. The palletizing gripper device according to claim 1, characterized in that, The gripper body includes a gripper connecting plate and a gripper sheet metal part. One end of the gripper connecting plate is connected to the rotating shaft connecting rod, and the other end of the gripper connecting plate is connected to the gripper sheet metal part.

3. The palletizing gripper device according to claim 2, characterized in that, The gripper connecting plate is also connected to a swing drive motor, which is connected to the gripper sheet metal part. The swing drive motor is used to receive pulse signals to control the gripper sheet metal part to swing according to a preset swing mode.

4. The palletizing gripper device according to claim 3, characterized in that, The preset swing pattern includes at least one of the following: Swinging outward from the gripper body at a first preset angle to the vertical direction, swinging inward from the gripper body at a second preset angle to the vertical direction, and swinging along the vertical direction.

5. The palletizing gripper device according to claim 1, characterized in that, The first drive mechanism includes a lifting drive motor, a lifting mounting plate, a lead screw, a lifting base plate, a sliding assembly, and a bearing; the palletizing gripper mechanism also includes a connecting plate. The lifting drive motor is mounted on the lifting mounting plate, one end of the lead screw is connected to the lifting drive motor, and the other end of the lead screw is connected to the bearing mounted on the lifting base plate; One end of the sliding component is connected to the lead screw, and the other end of the sliding component passes through the lifting base plate and is connected to the connecting plate; The lifting drive motor is used to drive the lead screw to rotate in order to control the palletizing gripper mechanism to lift and lower through the sliding assembly.

6. The palletizing gripper device according to claim 5, characterized in that, The first driving mechanism also includes a side wall, one end of which is connected to the lifting mounting plate and the other end of which is connected to the lifting base plate. The sliding component includes a slide rail slider, which is mounted on the side wall.

7. The palletizing gripper device according to claim 5, characterized in that, The lifting base plate is also equipped with a switch assembly, which is used to control the lifting and lowering of the palletizing gripper mechanism.

8. The palletizing gripper device according to claim 7, characterized in that, The switch assembly is a fork-type switch, which includes a home position, an upper limit position, and a lower limit position.

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