A packaging box gripping device

Abstract

The application discloses a kind of packing box grabbing device, and the horizontal of packing box is kept in the process of being grabbed by the self-balancing unit of two sides packing box grab hand, avoid packing box to be grabbed when deflection one-sided handle load too large and cause packing box breakage fall, simultaneously, the position of packing box is accurately positioned when being grabbed by the self-adapting detection of packing box detection unit, avoid packing box to be excessively pressed under unexpected situation and cause packing box breakage, improve the safety of packing box grabbing transfer process, realize the automation, continuous safe production of packing box grabbing and transfer.It can compatible the position error of packing box handle, keep the horizontal of packing box in the process of grabbing transfer, automatically grab packing box and transfer and stacking, realize the automation, unmanned safe production of packing box transfer and stacking.

Description

Technical Field

[0001] This invention relates to the field of automated packaging technology for energetic materials, and in particular to a packaging box gripping device suitable for gripping packaging boxes with inconsistent heights on both sides and a certain degree of error. Background Technology

[0002] Currently, the packaging and transportation of energetic materials in China all use wooden crates. The crates have handles on the front and back, and the handles are staggered to save space when stacking them together. However, since these crates are made by hand, the positional error of the handles is relatively large (±25mm). In the packaging and production of propellants, a assisted crane is usually used to assist manual operation for transportation and stacking, which results in high labor intensity and low work efficiency.

[0003] Conventional fixed gripping methods for packaging boxes cannot accommodate inconsistent handle heights and errors. Therefore, when using conventional fixed gripping methods, some packaging boxes may tilt during transportation and stacking, leading to uneven force on the handles and breakage, which poses a certain safety risk.

[0004] Therefore, how to provide an automated, flexible, and self-balancing packaging box gripping device that can accommodate the positional errors of the packaging box handles and keep the packaging box horizontal during gripping and transportation is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of the above problems, the present invention provides a packaging box gripping device to overcome or at least partially solve the above problems. It solves the problem of instability and unreliability of traditional gripping and transfer technologies caused by positional errors of the packaging box handles, thereby improving the gripping stability and safety of packaging boxes containing energetic materials.

[0006] This invention provides the following solution:

[0007] A packaging box gripping device, comprising:

[0008] The mounting base unit includes a gripper base plate; the gripper base plate is provided with two sets of gripper guide mechanisms extending along its length.

[0009] The gripper unit includes a first gripper mounting plate, a second gripper mounting plate, a first gripper, and a second gripper. The first gripper mounting plate and the second gripper mounting plate are respectively connected to two sets of gripper guide mechanisms. The first gripper is connected to the first gripper mounting plate through a pair of first guide components, and the second gripper is connected to the second gripper mounting plate through a pair of second guide components.

[0010] The driving unit includes a pair of driving execution components. Both of the driving execution components are connected to the gripper base plate. The output terminals of each of the driving execution components are respectively connected to the first gripper mounting plate and the second gripper mounting plate. The pair of driving execution components are used to drive the first gripper mounting plate and the second gripper mounting plate to move closer to or separate from each other.

[0011] The self-balancing unit includes a pair of self-balancing steel wires symmetrically arranged along the width direction of the gripper base plate. One end of the self-balancing steel wire is connected to the first gripper, and the other end of the self-balancing steel wire passes through the first balancing pulley on the first gripper mounting plate and the second balancing pulley on the second gripper mounting plate in sequence and is connected to the second gripper.

[0012] The first guide component and the second guide component have different lengths, and the lengths of the first guide component and the second guide component are variable during the lifting and lowering of the mounting unit.

[0013] After the active gripper makes initial contact with the corresponding handle, the guide component corresponding to the active gripper is stretched, and at the same time, the active gripper drives the self-balancing steel wire rope to pull the passive gripper upward and compress the corresponding guide component until the passive gripper makes contact with another handle; the active gripper is the first gripper or the second gripper, and the passive gripper is another gripper other than the active gripper.

[0014] Preferably: the first guide assembly includes a first guide shaft and a first gripper tensioning telescopic member, with both ends of the first guide shaft respectively connected to one end of the first gripper mounting plate and one end of the first gripper tensioning telescopic member, and the other end of the first gripper tensioning telescopic member connected to the first gripper; the second guide assembly includes a second guide shaft and a second gripper tensioning telescopic member, with both ends of the second guide shaft respectively connected to one end of the second gripper mounting plate and one end of the second gripper tensioning telescopic member, and the other end of the second gripper tensioning telescopic member connected to the second gripper; the first gripper tensioning telescopic members have the same length, and the first guide shaft and the second guide shaft have different lengths.

[0015] Preferably, both the first gripper tensioning telescopic member and the second gripper telescopic member include springs.

[0016] Preferably, the drive actuation component includes a cylinder, which is connected to the gripper base plate via a cylinder mounting seat.

[0017] Preferably, the mounting base unit further includes a gripper connecting plate, two gripper support vertical plates, and two vertical plate connecting plates; the gripper connecting plate, the two vertical plate connecting plates, and the gripper base plate connect the two gripper support vertical plates to form an integral structure; the gripper connecting plate is used to connect with the lifting drive equipment.

[0018] Preferably, the gripper guiding mechanism includes a guide rail and a slider. The guide rail is connected to the gripper base plate, and the slider is connected to the guide rail and the corresponding gripper mounting plate.

[0019] Preferably, the system further includes a packaging box detection unit, which is connected to the gripper base plate and is used to detect the relative position between the gripper base plate and the top of the packaging box to be gripped.

[0020] Preferably, the packaging box detection unit includes a detection bracket, an upper sliding sleeve, a lower sliding sleeve, a detection rod, a tension spring, a cylindrical pin, and a detection sensor;

[0021] The upper sliding sleeve and the lower sliding sleeve are mounted on the detection bracket. The detection rod is installed in a free state in the through holes of the upper sliding sleeve and the lower sliding sleeve. The cylindrical pin is inserted into the pin hole of the detection rod. The tension spring is fitted on the detection rod and is located between the cylindrical pin and the upper sliding sleeve. The detection sensor is mounted on the detection bracket and is used to detect the position signal of the detection rod.

[0022] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0023] This application provides a packaging box gripping device that maintains the packaging box horizontally during gripping through self-balancing units on both sides of the gripper. This prevents excessive load on one side of the gripper when the box is tilted, which could lead to breakage and the box falling. Simultaneously, the adaptive detection unit accurately positions the box during gripping, preventing excessive compression and breakage in case of accidents. This improves the safety of the packaging box gripping and transfer process, enabling automated, continuous, and safe production of packaging box gripping and transfer. It is compatible with the positional errors of the packaging box grippers, keeping the box horizontal during gripping and transfer, automatically gripping, transferring, and stacking boxes, achieving automated, unmanned, and safe production of packaging box transfer and stacking.

[0024] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a packaging box gripping device provided in an embodiment of the present invention;

[0027] Figure 2 This is an isometric view of a packaging box gripping device provided in an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the packaging box detection unit provided in an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the structure of the first gripper mounting plate provided in an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of the first gripper provided in an embodiment of the present invention.

[0031] In the diagram: Mounting unit 1, gripper base plate 11, gripper guide mechanism 12, gripper connecting plate 13, gripper support vertical plate 14, vertical plate connecting plate 15, gripper unit 2, first gripper mounting plate 21a, second gripper mounting plate 21b, first gripper 22a, second gripper 22b, first guide assembly 23a, first guide shaft 23a1, first gripper tensioning telescopic component 23a2, second guide assembly 23b, second guide shaft 23b1, second gripper tensioning telescopic component 23b 2. Spring retaining ring 24. Guide shaft fixing plate 25. Gripper guide sleeve 26. Drive unit 3. Drive execution component 31. Cylinder mounting seat 32. Self-balancing unit 4. Self-balancing steel wire 41. First balancing pulley 42a. Second balancing pulley 42b. Steel wire fixing clamp 43. Steel wire rope fixing pin 44. Packaging box detection unit 5. Detection bracket 51. Upper sliding sleeve 52. Lower sliding sleeve 53. Detection rod 54. Tension spring 55. Cylindrical pin 56. Detection sensor 57. Packaging box 6. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0033] See Figure 1 , Figure 2, Figure 3 , Figure 4 , Figure 5 This invention provides a packaging box gripping device, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the device may include:

[0034] Mounting base unit 1, the mounting base unit 1 includes a gripper base plate 11; the gripper base plate 11 is provided with two sets of gripper guide mechanisms 12 extending along its length direction;

[0035] The gripper unit 2 includes a first gripper mounting plate 21a, a second gripper mounting plate 21b, a first gripper 22a, and a second gripper 22b. The first gripper mounting plate 21a and the second gripper mounting plate 21b are respectively connected to two sets of gripper guide mechanisms 12. The first gripper 22a is connected to the first gripper mounting plate 21a through a pair of first guide components 23a, and the second gripper 22b is connected to the second gripper mounting plate 21b through a pair of second guide components 23b.

[0036] The drive unit 3 includes a pair of drive execution components 31. Both drive execution components 31 are connected to the gripper base plate 11. The output ends of each drive execution component 31 are respectively connected to the first gripper mounting plate 21a and the second gripper mounting plate 21b. The pair of drive execution components 31 are used to drive the first gripper mounting plate 21a and the second gripper mounting plate 21b to move closer to or separate from each other.

[0037] The self-balancing unit 4 includes a pair of self-balancing steel wires 41 symmetrically arranged along the width direction of the gripper base plate 11. One end of the self-balancing steel wire 41 is connected to the first gripper 22a, and the other end of the self-balancing steel wire 41 passes through the first balancing pulley 42a on the first gripper mounting plate 21a and the second balancing pulley 42b on the second gripper mounting plate 21b and is connected to the second gripper 22b.

[0038] The first guide component 23a and the second guide component 23b have different lengths, and the lengths of the first guide component 23a and the second guide component 23b are variable during the lifting and lowering of the mounting unit 1.

[0039] After the active gripper makes initial contact with the corresponding handle, the guide component corresponding to the active gripper is stretched. At the same time, the active gripper drives the self-balancing steel wire 41 to pull the passive gripper upward and compress the corresponding guide component until the passive gripper makes contact with another handle. The active gripper is the first gripper 22a or the second gripper 22b, and the passive gripper is another gripper other than the active gripper.

[0040] The packaging box gripping device provided in this application embodiment drives the two packaging box grippers on both sides to open and clamp through the drive unit 3. The self-balancing unit 4 of the packaging box grippers keeps the packaging box horizontal during the gripping process, avoiding excessive load on one side of the handle when the packaging box is tilted, which would cause the packaging box to break and fall, thus improving the safety of the packaging box gripping and transportation process.

[0041] Since the two handles on the left and right sides of the packaging box are staggered vertically when it leaves the factory, the first guide component 23a and the second guide component 23b are of different lengths, which can ensure that the gripper can better match the vertically staggered handles. To ensure that the lengths of the first guide component 23a and the second guide component 23b are different, this embodiment of the application can provide that the first guide component 23a includes a first guide shaft 23a1 and a first gripper tensioning telescopic member 23a2. The two ends of the first guide shaft 23a1 are respectively connected to one end of the first gripper mounting plate 21a and one end of the first gripper tensioning telescopic member 23a2, and the other end of the first gripper tensioning telescopic member 23a2 is connected to the first gripper 22a. The second guide component 23b includes a second guide shaft 23b1 and a second gripper tensioning telescopic member 23b2. The two ends of the second guide shaft 23b1 are respectively connected to one end of the second gripper mounting plate 21b and one end of the second gripper tensioning telescopic member 23b2, and the other end of the second gripper tensioning telescopic member 23b2 is connected to the second gripper 22b. The first gripper tensioning telescopic member 23a2 has the same length, and the lengths of the first guide shaft 23a1 and the second guide shaft 23b1 are different. By using tensioning and telescopic components of the same length to connect with guide shafts of different lengths, a first guide assembly 23a and a second guide assembly 23b of different lengths are obtained.

[0042] Furthermore, both the first gripper tensioning telescopic member 23a2 and the second gripper telescopic member 22b include springs.

[0043] To further improve the safety of the device during use, this application embodiment may also provide that the drive execution component 31 includes a cylinder, and the cylinder is connected to the gripper base plate 11 through a cylinder mounting seat 32.

[0044] The mounting base unit 1 provided in this embodiment can be used as a carrier for the entire device. Furthermore, this embodiment can provide that the mounting base unit 1 also includes a gripper connecting plate 13, two gripper support vertical plates 14, and two vertical plate connecting plates 15. The gripper connecting plate 13, the two vertical plate connecting plates 15, and the gripper base plate 11 connect the two gripper support vertical plates 14 to form an integral structure. The gripper connecting plate 13 is used to connect to a lifting drive device. The gripper connecting plate 13 can be connected to a device used to drive the overall lifting of the device, so that the lifting drive device can drive the overall upgrade of the device, thereby enabling the gripping and transfer of packaging boxes.

[0045] Furthermore, the gripper guiding mechanism 12 includes a guide rail and a slider. The guide rail is connected to the gripper base plate 11, and the slider is connected to the guide rail and the corresponding gripper mounting plate, respectively.

[0046] To further improve the safety of the device provided in this application embodiment, this application embodiment may also include a packaging box detection unit 5, which is connected to the gripper base plate 11. The packaging box detection unit 5 is used to detect the relative position between the gripper base plate 11 and the top of the packaging box to be gripped. The packaging box detection unit 5 is designed on the gripper to prevent the gripper from squeezing the packaging box when gripping it due to the box being too tall, thus avoiding damage to the packaging box.

[0047] Furthermore, the packaging box detection unit 5 includes a detection bracket 51, an upper sliding sleeve 52, a lower sliding sleeve 53, a detection rod 54, a tension spring 55, a cylindrical pin 56, and a detection sensor 57;

[0048] The upper sliding sleeve 52 and the lower sliding sleeve 53 are mounted on the detection bracket 51. The detection rod 54 is freely mounted in the through holes of the upper sliding sleeve 52 and the lower sliding sleeve 53. The cylindrical pin 56 is inserted into the pin hole of the detection rod 54. The tension spring 55 is fitted on the detection rod 54 and is located between the cylindrical pin 56 and the upper sliding sleeve 52. The sensor is mounted on the detection bracket 51 and is used to detect the position signal of the detection rod 54.

[0049] The following section uses pneumatic drive as an example to describe in detail the structure and usage of the device provided in the embodiments of this application.

[0050] The self-balancing gripping device for packaging boxes provided in this application embodiment includes: a packaging box detection unit 5, a gripper connecting plate 13, a gripper support vertical plate 14, a vertical plate connecting plate 15, a gripper base plate 11, a cylinder mounting seat 32, a gripper drive cylinder, a gripper guide unit, a first gripper mounting plate 21a, a second gripper mounting plate 21b, a first guide shaft 23a1, a second guide shaft 23b1, a guide shaft fixing plate 25, a first gripper 22a, a second gripper 22b, a gripper guide sleeve 26, a first gripper tensioning telescopic component 23a2, a second gripper tensioning telescopic component 23b2, a spring fixing ring 24, a self-balancing steel wire 41, a first balancing pulley 42a, a second balancing pulley 42b, a steel wire fixing clamp 43, a steel wire rope fixing pin 44, and a packaging box 6.

[0051] The connection relationship is as follows: the gripper connecting plate 13, the two vertical plate connecting plates 15 and the gripper base plate 11 connect the two gripper support vertical plates 14 together and fix them by screws. The gripper connecting plate 13 is installed and fixed on the top of the vertical plate connecting plate 15, which is convenient for installation on the external drive device. The gripper base plate 11 is used to prevent the screws from falling off.

[0052] The gripper guide unit is installed on the gripper support vertical plate 14. The first gripper mounting plate 21a and the second gripper mounting plate 21b are respectively installed on the guide rail sliders in the two sets of gripper guide units. The two cylinder mounting seats 32 are fixed in the middle of the vertical plate connecting plate 15 and are used to install and fix the gripper drive execution component 31 (drive cylinder). The two sets of gripper drive cylinders are connected to the gripper mounting plates. The first guide shaft 23a1 and the second guide shaft 23b1 are respectively installed on the left and right gripper mounting plates. The first gripper mounting plate 21a and the second gripper mounting plate 21b are connected and fixed to the first guide shaft 23a1 and the second guide shaft 23b1 respectively through the guide shaft fixing plate 25. The first gripper 22a, gripper guide sleeve, first gripper tensioning telescopic component 23a2, and spring fixing ring 24 are installed on the first guide shaft 23a1 from bottom to top. The parts installed on the second guide shaft 23b1 are the same as those on the first guide shaft 23a1.

[0053] The first balancing pulley 42a and the second balancing pulley 42b are respectively installed on the outer side of the first gripper mounting plate 21a and the second gripper mounting plate 21b, and are supported by their own pulley shafts. The self-balancing steel wire 41 is wound around the balancing pulley on the same side of the gripper mounting plate and connected to the steel wire rope fixing pin 44 on the gripper. It is clamped and fixed by the steel wire fixing clamp 43. The packaging box detection unit 5 is installed on the vertical plate connecting plate 15.

[0054] See Figure 3 In this embodiment of the application, the packaging box detection unit 5 of the pneumatic self-balancing gripping device for packaging boxes includes: a detection bracket 51, an upper sliding sleeve 52, a lower sliding sleeve 53, a detection rod 54, a tension spring 55, a cylindrical pin 56, and a detection sensor 57.

[0055] The connection is as follows: the upper sliding sleeve 52 and the lower sliding sleeve 53 are installed on the detection bracket 51, the detection rod 54 is fitted into the through hole between the upper sliding sleeve 52 and the lower sliding sleeve 53, the cylindrical pin 56 is inserted into the pin hole of the detection rod 54, the tension spring 55 is fitted on the detection rod 54 and installed between the cylindrical pin 56 and the upper sliding sleeve 52, and the detection sensor 57 is mounted on the detection bracket 51 to detect the position signal of the detection rod 54.

[0056] The working process of the pneumatic self-balancing gripping device for packaging boxes is described as follows:

[0057] Two gripper drive cylinders extend simultaneously, pushing the first gripper mounting plate 21a and the second gripper mounting plate 21b to move outward and open, causing the first guide shaft 23a1, the second guide shaft 23b1, the first gripper 22a, and the second gripper 22b to open. Due to the fixed length of the self-balancing steel wire 41, its horizontal length increases while its vertical length decreases, which in turn causes the self-balancing steel wire 41 to pull the grippers up. The distance each gripper rises is equal to the distance the corresponding gripper mounting plate moves outward.

[0058] The gripping device descends as a whole and approaches the packaging box 6. When the detection rod 54 touches the top of the packaging box, the detection rod 54 begins to retract. After it retracts to the position of the detection sensor 57 and is detected, the gripping device stops descending. At this time, both the first gripper 22a and the second gripper 22b have descended below the handle of the packaging box.

[0059] Then the gripper drive cylinder retracts, which in turn retracts the gripper mounting plate, causing the gripper to close. Then the gripping device rises as a whole, causing the package box 6 to be gripped and lifted, thus realizing the gripping and lifting of the package box 6.

[0060] When the gaps between the handles on both sides of the packaging box 6 and the first gripper 22a and the second gripper 22b are equal, the grippers on both sides simultaneously grab the packaging box 6 when the gripping device rises.

[0061] When the gaps are different, the gripper with the smaller gap contacts the handle of the packaging box 6 first and is blocked by gravity. The gripping device continues to rise. The gripper with the larger gap rises relative to the first guide shaft 23a1 or the second guide shaft 23b1 under the pull of the self-balancing steel wire 41 until the gripper contacts the handle of the packaging box. The gripping device continues to rise, driving the packaging box 6 to rise. At this time, the packaging box 6 still remains in a horizontal state, realizing the safe gripping of the packaging box 6.

[0062] Similarly, when placing the packaging box 6 after the transfer is completed, the gripping device descends as a whole. When the packaging box touches the bottom, the gripping device continues to descend until the detection rod 54 touches the top of the packaging box and retracts to the detection position of the detection sensor 57. The packaging box is placed in place, the gripping device opens, and the grippers release, thus completing the gripping and transfer of the packaging box.

[0063] The device uses a retractable detection rod 54 to grasp and detect the packaging box, ensuring that the packaging box is accurately positioned when grasped and avoiding excessive squeezing of the packaging box 6 by the grasping device.

[0064] The device connects the two grippers by a self-balancing steel wire 41. The grippers achieve adaptive balance by maintaining a fixed length of the self-balancing steel wire 41, thereby enabling the self-balancing gripping of the packaging box 6.

[0065] This device is pneumatically driven and can be used in various hazardous environments during the production of energetic materials, especially in situations where the use of strong electricity or electric drive is prohibited.

[0066] In summary, the packaging box gripping device provided in this application maintains the packaging box horizontally during the gripping process through the self-balancing units of the grippers on both sides. This prevents excessive load on one side of the gripper when the packaging box is tilted, which could lead to breakage and drop. Simultaneously, the adaptive detection unit of the packaging box accurately locates the position of the packaging box during gripping, preventing excessive compression and breakage in case of accidents. This improves the safety of the packaging box gripping and transfer process, enabling automated, continuous, and safe production of packaging box gripping and transfer. It is compatible with the positional errors of the packaging box handles, keeping the packaging box horizontal during gripping and transfer, automatically gripping packaging boxes for transfer and palletizing, achieving automated, unmanned, and safe production of packaging box transfer and palletizing.

[0067] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0068] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0069] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A packaging box gripping device, characterized in that, include: The mounting base unit includes a gripper base plate; the gripper base plate is provided with two sets of gripper guide mechanisms extending along its length. The gripper unit includes a first gripper mounting plate, a second gripper mounting plate, a first gripper, and a second gripper. The first gripper mounting plate and the second gripper mounting plate are respectively connected to two sets of gripper guide mechanisms. The first gripper is connected to the first gripper mounting plate through a pair of first guide components, and the second gripper is connected to the second gripper mounting plate through a pair of second guide components. The driving unit includes a pair of driving execution components. Both of the driving execution components are connected to the gripper base plate. The output terminals of each of the driving execution components are respectively connected to the first gripper mounting plate and the second gripper mounting plate. The pair of driving execution components are used to drive the first gripper mounting plate and the second gripper mounting plate to move closer to or separate from each other. The self-balancing unit includes a pair of self-balancing steel wires symmetrically arranged along the width direction of the gripper base plate. One end of the self-balancing steel wire is connected to the first gripper, and the other end of the self-balancing steel wire passes through the first balancing pulley on the first gripper mounting plate and the second balancing pulley on the second gripper mounting plate in sequence and is connected to the second gripper. The first guide component and the second guide component have different lengths, and the lengths of the first guide component and the second guide component are variable during the lifting and lowering of the mounting unit. After the active gripper makes initial contact with the corresponding handle, the guide component corresponding to the active gripper is stretched, and at the same time, the active gripper drives the self-balancing steel wire rope to pull the passive gripper upward and compress the corresponding guide component until the passive gripper makes contact with another handle; the active gripper is the first gripper or the second gripper, and the passive gripper is another gripper other than the active gripper.

2. The packaging box gripping device according to claim 1, characterized in that, The first guide assembly includes a first guide shaft and a first gripper tensioning telescopic member. Both ends of the first guide shaft are respectively connected to one end of the first gripper mounting plate and one end of the first gripper tensioning telescopic member, and the other end of the first gripper tensioning telescopic member is connected to the first gripper. The second guide assembly includes a second guide shaft and a second gripper tensioning telescopic member. Both ends of the second guide shaft are respectively connected to one end of the second gripper mounting plate and one end of the second gripper tensioning telescopic member, and the other end of the second gripper tensioning telescopic member is connected to the second gripper. The first gripper tensioning telescopic members have the same length, while the first guide shaft and the second guide shaft have different lengths.

3. The packaging box gripping device according to claim 2, characterized in that, Both the first gripper tensioning telescopic component and the second gripper telescopic component include springs.

4. The packaging box gripping device according to claim 1, characterized in that, The drive actuation component includes a cylinder, which is connected to the gripper base plate via a cylinder mounting seat.

5. The packaging box gripping device according to claim 1, characterized in that, The mounting base unit also includes a gripper connecting plate, two gripper support vertical plates, and two vertical plate connecting plates; the gripper connecting plate, the two vertical plate connecting plates, and the gripper base plate connect the two gripper support vertical plates to form an integral structure; the gripper connecting plate is used to connect to the lifting drive equipment.

6. The packaging box gripping device according to claim 1, characterized in that, The gripper guiding mechanism includes a guide rail and a slider. The guide rail is connected to the gripper base plate, and the slider is connected to the guide rail and the corresponding gripper mounting plate.

7. The packaging box gripping device according to claim 1, characterized in that, It also includes a packaging box detection unit, which is connected to the gripper base plate and is used to detect the relative position between the gripper base plate and the top of the packaging box to be gripped.

8. The packaging box gripping device according to claim 7, characterized in that, The packaging box detection unit includes a detection bracket, an upper sliding sleeve, a lower sliding sleeve, a detection rod, a tension spring, a cylindrical pin, and a detection sensor; The upper sliding sleeve and the lower sliding sleeve are mounted on the detection bracket. The detection rod is installed in a free state in the through holes of the upper sliding sleeve and the lower sliding sleeve. The cylindrical pin is inserted into the pin hole of the detection rod. The tension spring is fitted on the detection rod and is located between the cylindrical pin and the upper sliding sleeve. The detection sensor is mounted on the detection bracket and is used to detect the position signal of the detection rod.

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