A highly compatible box entry gripper device

Abstract

A highly compatible box entry gripper device comprises: a lifting and rotating device, a product suction device, a large-surface pressure device, a mobile coordinate system, and a bottom-covering device. The output end of the lifting and rotating device is connected to the product suction device, and the lifting and rotating device is connected to the large-surface pressure device. The lifting and rotating device integrates lifting and rotating structures, drives the product suction device and the lifting and rotating device to lift and / or rotate. The directions of movement of the large-surface pressure device and the product suction device during the action process are perpendicular to each other and act on different surfaces of the product respectively to jointly take materials; the mobile coordinate system realizes the long-distance material taking and translation of the box gripper device through translation, and has high supporting strength; the bottom-covering device prevents casualties caused by accidental falling of products; the box entry gripper device in the present invention is compatible with operations such as clamping, transferring, and box entry of multiple models of products, and has good compatibility and adaptability.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical equipment, and in particular to a box entry gripper device with high compatibility. Background Art

[0002] In the daily production process, it is necessary to use automated production equipment to complete high-intensity and high-risk operations. The flexibility and degree of automation of mechanical equipment directly determine the work efficiency of workshop operations, which in turn affects production costs. Taking product handling equipment as an example, in most product handling and placement processes, only a first-level lifting structure is required. After clamping the product, the product transfer is completed through the translation structure and the first-level lifting structure. However, in some areas, the first-level lifting cannot meet the product handling needs. For example, the product needs to be transferred and put into the box. The first-level lifting structure often cannot perform the boxing operation because the structure interferes with the box body. If the first-level lifting completes the product transfer and boxing operation, the first-level lifting structure and the pick-and-place structure need to be specially set, and a complex avoidance design is required, and the equipment is less versatile. Furthermore, different products have different clamping surfaces, some in the X-axis direction, some in the Y-axis direction, and even different directions of entry into the box. The handling equipment in the prior art lacks a rotating structure and cannot adapt to the operation of multiple product handling / and boxing.

[0003] The present invention provides a highly compatible box entry gripper device to solve the above technical problems. Summary of the invention

[0004] A highly compatible box-entry gripper device comprises: a lifting and rotating device, a product suction device, and a large-surface pressurizing device. The output end of the lifting and rotating device is connected to the product suction device, and the lifting and rotating device is connected to the large-surface pressurizing device. The lifting and rotating device integrates lifting and rotating structures to drive the product suction device to lift and rotate. The directions of movement of the large-surface pressurizing device and the product suction device during the action process are perpendicular to each other and they act on different surfaces of the product respectively to jointly take materials. The lifting and rotating device is a two-stage lifting and rotating device.

[0005] Preferably, the described high-compatibility box-entry gripper device, the described lifting and rotating device comprises a top fixed plate, an intermediate fixed plate, a rotating plate, a primary lifting plate, a rotating drive assembly, a slewing bearing, a lifting drive assembly, a connector assembly, and a secondary lifting plate, the described top fixed plate, the intermediate fixed plate, and the primary lifting plate are arranged in sequence from top to bottom, the described top fixed plate and the intermediate fixed plate are fixedly connected, the described rotating plate is located above or below the described intermediate fixed plate, the described connector assembly passes through the plate holes of the described top fixed plate, the intermediate fixed plate, and the rotating plate, and the bottom is fixedly connected to the described primary lifting plate, the described connector assembly is rotatably connected to the inner wall of the plate hole of the described top fixed plate and the intermediate fixed plate through the described slewing bearing, the described rotating plate is fixedly connected to the end of the inner ring of the slewing bearing protruding from the plate surface in the plate hole of the top fixed plate or / and the intermediate fixed plate, the described lifting drive assembly comprises a primary lifting drive assembly and a secondary lifting drive assembly, the described primary lifting drive assembly is mounted on the plate surface of the described rotating plate, and the output shaft is fixedly connected to the described primary lifting plate; the described secondary lifting drive assembly is fixed on the plate surface of the described primary lifting plate, and the output end is connected to the The secondary lifting plate is fixedly connected, and the secondary lifting plate is used to install the product suction device; the connector assembly includes a connector body, a first Z-axis slide rail slider structure, and a height positioning structure. The first Z-axis slide rail slider structure is installed on the side panel surface of the connector body, the inner ring of the slewing bearing is fixedly connected to the slider of the first Z-axis slide rail slider structure, the inner wall of the top fixed plate and the plate hole of the middle fixed plate is fixedly connected to the outer ring of the corresponding slewing bearing, and the height positioning structure limits the height of the connector body after adjustment; the height positioning structure includes a height positioning cylinder, a positioning pin, and a positioning bar. The positioning bar plate surface is processed with helical teeth and the positioning bar is installed on the side panel surface of the connector body. The cylinder mounting plate is fixedly connected to the end surface of the slewing bearing protruding from the plate surface of the middle fixed plate. The height positioning cylinder is fixed by the cylinder mounting plate and the piston shaft of the height positioning cylinder is fixedly connected to the positioning pin. Before the height of the connector body changes, the positioning pin is away from the helical tooth gap of the positioning bar. After the height adjustment is completed, the positioning pin is inserted into the helical tooth gap of the positioning bar to complete the height limit.

[0006] Preferably, the described high-compatibility box entry gripper device, the rotating plate includes an upper rotating plate, a lower rotating plate, and a rotating plate connecting plate, the upper rotating plate and the lower rotating plate are fixedly connected by the rotating plate connecting plate, the upper rotating plate is fixedly connected to the end of the rotating bearing protruding from the surface of the top fixed plate in the hole of the top fixed plate or / and the lower rotating plate is fixedly connected to the end of the rotating bearing protruding from the surface of the middle fixed plate in the hole of the middle fixed plate; the rotating drive assembly includes a rotating drive device, a transmission structure, and a transmission gear, the rotating drive device is installed on the surface of the top fixed plate and the output end is connected to the transmission structure, the transmission structure and the transmission gear are meshed and connected, and the transmission gear is fixedly connected to the end of the rotating bearing protruding from the surface of the top fixed plate in the hole of the top fixed plate; the secondary lifting plate and the primary lifting plate are connected by a second Z-axis slide rail slider structure.

[0007] Preferably, the described high-compatibility box entry gripper device, the described large-surface pressurizing device includes a translation drive device, a translation drive device mounting plate, a first slide rail slider structure, a pressure strip, and a wire trough assembly, the first slide rail slider structure is fixedly connected to the lower plate surface of the first-level lifting plate, the translation drive device is fixedly installed through the translation drive device mounting plate, the output end of the translation drive device mounting plate is fixedly connected to the pressure strip, the translation drive device mounting plate, the pressure strip and the slider of the first slide rail slider structure are fixedly connected; the wire trough assembly is directly or indirectly fixed to the translation drive device mounting plate, the wire trough assembly is used for routing electrical circuits, the translation drive device and the translation drive device mounting plate change the clamping spacing by translating along the slide rail to adapt to products of different sizes; the wire trough assembly includes a through A wire tube, a wire trough fixing cylinder, a wire trough cylinder fixing plate, a mounting block assembly, and a wire trough plug plate. The cylinder body of the wire trough fixing cylinder is fixed to the wire trough cylinder fixing plate. The piston shaft of the wire trough fixing cylinder passes through the wire trough cylinder fixing plate and the mounting block assembly in sequence and is inserted into the positioning hole of the wire trough plug plate. The wire trough plug plate is located above the mounting block assembly and the board surface of the wire trough plug plate is processed with multiple positioning holes. The mounting block assembly is directly or indirectly fixedly connected to the slider in the first slide rail slider structure or the translation drive device mounting plate. The wire trough cylinder fixing plate is connected to the mounting block assembly, and the wire threading tube is fixed to the side plate surface of the wire trough cylinder fixing plate. In the locked and positioned state, the piston shaft of the wire trough fixing cylinder is lifted and inserted into the positioning hole of the wire trough plug plate above to fix the position of the wire trough assembly.

[0008] Preferably, the high-compatibility box entry gripper device, the large-surface pressurizing device also includes an auxiliary pressurizing device and a floating pressurizing strip, the auxiliary pressurizing device is installed on the plate surface of the pressurizing strip and the output end is fixedly connected to the floating pressurizing strip, the mounting block assembly includes an intermediate adapter plate, a floating mounting block, a fixed mounting block, and a floating locking plate, the fixed mounting block and the wire groove cylinder fixing plate are respectively fixed to the upper and lower plate surfaces of the floating mounting block, and the piston shaft outlet holes of the fixed mounting block, the wire groove cylinder fixing plate, and the floating mounting block plate surface are centrally arranged, and the piston shaft is connected to the fixed mounting block through a linear bearing The inner wall of the plate hole is connected; the intermediate adapter plate is fixedly connected to the installation plate of the translation drive device and the slider of the first slide rail slider structure respectively; the plate surface of the floating mounting block is processed with a waist-shaped hole and the screw passes through the waist-shaped hole to float the floating mounting block and the intermediate adapter plate; the plate surface of the floating locking plate is processed with a circular threaded hole and a waist-shaped hole; the floating locking plate is fixedly connected to the intermediate adapter plate through the circular threaded hole and is floated with the floating mounting block through the waist-shaped hole; the waist-shaped holes in the floating mounting block and the floating locking plate are vertical, which assists the floating mounting block to complete the position floating in two vertical directions.

[0009] Preferably, the highly compatible box entry gripper device can adjust the piston shaft of the wire trough fixing cylinder to a position aligned with the positioning hole in the wire trough plug plate by adjusting the relative position of the screw in the waist-shaped hole; or, the mounting block assembly also includes a gasket, the plate surface of the gasket is processed with a screw avoidance groove connected to the edge of the plate, the gasket is avoidance installed between the floating locking plate and the floating mounting block plate surface or / and the gasket is avoidance installed between the intermediate adapter plate and the floating mounting block plate surface, during the installation process, the gap is inserted from the side, wherein the bolt is avoidance installed in the screw avoidance groove.

[0010] Preferably, the highly compatible box-entry gripper device also includes a product presence sensor, a sensor position drive device, and a second slide rail slider structure. The product presence sensor is fixedly installed with the slider of the second slide rail slider structure through a mounting plate, and the second slide rail slider structure is installed on the upper surface of the pressure strip. The sensor position drive device is fixed to the surface of the pressure strip through a mounting plate, and the power output shaft of the sensor position drive device is connected to the mounting plate of the product presence sensor.

[0011] Preferably, the highly compatible box-entry gripper device, the product suction device includes a vacuum adsorption strip mounting plate, a vacuum adsorption strip mounting frame, and a vacuum adsorption strip, the vacuum adsorption strip mounting frame is connected to the secondary lifting plate, the vacuum adsorption strip mounting plate is floatingly connected to the vacuum adsorption strip mounting frame through bolts, the bolt hole diameter on the lower plate surface of the vacuum adsorption strip mounting frame is larger than the bolt rod diameter, the bottom end of the bolt is fixedly connected to the vacuum adsorption strip, a spring is sleeved on the bolt, a negative pressure air duct is machined inside the vacuum adsorption strip, and a plurality of negative pressure adsorption grooves are machined on the lower plate surface of the vacuum adsorption strip that are spaced apart and connected to the negative pressure air duct.

[0012] Preferably, the highly compatible box-entering gripper device, the product suction device also includes a center beam, a center beam pre-positioning plate, a center beam clamping plate, a center beam clamping cylinder, and a center beam clamping plate guide rail. The center beam pre-positioning plate, the center beam clamping cylinder, and the center beam clamping plate guide rail are all fixedly connected to the secondary lifting plate, and the center beam pre-positioning plate surface is processed with a plurality of center beam pre-positioning grooves, the piston shaft of the center beam clamping cylinder is fixedly connected to the center beam clamping plate, and the center beam clamping plate surface is provided with An L-shaped center beam support plate is provided, the center beam positioning plate is fixedly connected to the slider of the center beam positioning plate guide rail, the end of the center beam is located in the center beam pre-positioning groove of the center beam pre-positioning plate and is supported by the upper plate surface of the L-shaped center beam support plate, the center beam positioning cylinder drives the center beam positioning plate to translate to the lower side corresponding to the center beam pre-positioning groove and drags the center beam so that the center beam is clamped in the enclosed space of the center beam pre-positioning groove and the L-shaped center beam support plate, thereby completing the installation of the center beam.

[0013] Preferably, the highly compatible box entry gripper device also includes a bottom scooping device, the bottom scooping device includes a bottom scooping bottom plate, a bottom scooping support vertical plate, a lifting hydraulic cylinder, a bottom scooping support total fixed plate, a translation hydraulic cylinder, and a lifting and translation transfer plate. The bottom scooping bottom plate and the bottom scooping support vertical plate are fixedly connected, the bottom scooping support vertical plate is liftable and guide-connected to the lifting and translation transfer plate through a lifting slide rail slider structure, the lifting and translation transfer plate and the translation slide rail slider structure are translationally guide-connected to the bottom scooping support total fixed plate, the bottom scooping support total fixed plate is fixedly connected to the first-level lifting plate, the piston shaft of the lifting hydraulic cylinder is fixedly connected to the upper end of the bottom scooping support vertical plate, the cylinder body of the lifting hydraulic cylinder is fixedly connected to the lifting and translation transfer plate, the cylinder body of the translation hydraulic cylinder is fixedly connected to the bottom scooping support total fixed plate on one side, and the piston shaft is connected to the bottom scooping support total fixed plate on the other side.

[0014] Preferably, the highly compatible box-entering gripper device also includes a product scanning CCD camera device, the product scanning CCD camera device includes a CCD camera and a translational lifting structure, the CCD camera is installed on the power output end of the translational lifting structure, the translational lifting structure is installed on the surface of the primary lifting plate, the translational lifting structure includes a translational drive structure and a lifting drive structure, the translational drive structure is fixedly connected to the primary lifting plate, the lifting drive structure is fixedly connected to the translation output end of the translational drive structure, the CCD camera is fixedly connected to the output end of the lifting drive structure, and the CCD camera is used to identify the barcode / QR code on the surface of the product.

[0015] Preferably, the highly compatible box entry gripper device further includes a moving coordinate system, which is a one-dimensional moving coordinate system, a two-dimensional moving coordinate system or a three-dimensional moving coordinate system, and the top fixed plate in the lifting and rotating device is fixedly connected to the output end of the moving coordinate system, and the lifting and rotating device is driven to transfer between starting points through the moving coordinate system, and the first-level lifting plate and the second-level lifting plate are driven to be lifted and lowered through the first-level lifting drive assembly, and the second-level lifting plate is driven to be lifted and lowered through the second-level lifting drive assembly.

[0016] The working principle is as follows: the box-entering gripper device is translated to the material-retrieving position under the action of the coordinate system, and under the action of the lifting and rotating device, the large-surface pressure device and the product suction device are first driven to descend to the material-retrieving height. Of course, if the angle of the product material-retrieving clamping surface is not suitable, the lifting and rotating device is also required to adjust the clamping angle; first clamp the side of the product through the large-surface pressure device, and then suck the upper plate surface of the product through the product suction device, and lift it to the transfer height under the action of the lifting and rotating device, and transfer the product to the material-retrieving position. If necessary, the material-retrieving angle can be adjusted during the material-retrieving process. The bottom-covering device is used to hold the product in the event of an accidental drop to avoid safety accidents. The product scanning CCD camera device is used to scan and enter product information, and the control system uses the received product input information to call out the transfer control path of the corresponding product that has been set in advance, so as to achieve automatic matching of different models of products, or some structures can also be manually matched by operators.

[0017] For example: Taking the battery pack of new energy vehicles as an example, the battery pack is large in size before being put into the box. It will be clamped by a large-surface pressure device and then pre-compressed before the battery pack can be placed in a battery box of the corresponding size. During the boxing operation, the product has different entry angles, which can be flexibly changed according to the different battery pack models. After the product is put into the box, it is pushed into the box under the action of the product suction device.

[0018] The large-surface pressure device and the large-surface pressure device in the box-entry gripper device disclosed by the present invention can be flexibly adjusted according to different models of products, and have high compatibility. The product suction device can be quickly disassembled and assembled through a quick-release plate structure. The incoming material may require the installation of 0, 1, 2 or more center beams, which can be quickly clamped into the enclosed space of the center beam pre-positioning groove and the L-shaped center beam support plate under the action of the center beam clamping cylinder, and the replacement efficiency is high; the material picking height can be lifted and lowered in two levels, and the material picking angle and / or discharge angle can be adjusted according to the specific product, further improving the product compatibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The specific implementation is further described below in conjunction with the accompanying drawings, wherein:

[0020] Figure 1 It is a schematic diagram of the overall installation structure of a high-compatibility box entry gripper device in a mobile coordinate system according to the present invention;

[0021] Figure 2 , 3 They are Figure 1 Schematic diagram of the translation structure of the truss in two directions of the moving coordinate system (the truss and driving structure used here are not limitations on the technical solution, and all other available existing technologies can be used);

[0022] Figure 4 It is a schematic diagram of the overall structure of a highly compatible box entry gripper device according to the present invention;

[0023] Figure 5 It is a structural schematic diagram of the lifting and rotating device involved in the present invention;

[0024] Figure 6 It is a schematic diagram of the structure of the connector assembly involved in the present invention;

[0025] Figure 7 It is a structural schematic diagram of a large-surface pressurizing device according to the present invention;

[0026] Figure 8 It is a schematic diagram of the structure of the mounting block assembly in the large surface pressurizing device according to the present invention;

[0027] Fig. 9 , 10 It is a schematic diagram of the structure of the product suction device according to the present invention;

[0028] Fig.11 It is a schematic diagram of the installation structure of the middle beam of the product suction device according to the present invention;

[0029] Fig.12 It is a structural schematic diagram of the bottom support device involved in the present invention;

[0030] Fig.13It is a schematic diagram of the gasket structure involved in the present invention;

[0031] The specific structure corresponding to the number is as follows:

[0032] Top fixed plate 01, middle fixed plate 02, rotating plate 03, upper rotating plate 031, lower rotating plate 032, rotating plate connecting plate 033, primary lifting plate 04, rotating drive assembly 05, rotating drive device 051, transmission structure 052, transmission gear 053, slewing bearing 06, lifting drive assembly 07, primary lifting drive assembly 071, secondary lifting drive assembly 072, connector assembly 08, connector body 081, first Z-axis slide rail slider structure 082, height fixed Position structure 083, height positioning cylinder 0831, positioning pin 0832, positioning bar 0833, secondary lifting plate 09, second Z-axis slide rail slider structure 091; translation drive device 11, translation drive device mounting plate 12, first slide rail slider structure 13, pressure bar 14, auxiliary pressure device 15, floating pressure bar 16, threading tube 17, wire groove fixing cylinder 18, wire groove cylinder fixing plate 19, position sensor plate travel groove 191, mounting block assembly 110, intermediate adapter plate 1101 , first intermediate adapter plate 11011, second intermediate adapter plate 11012, floating mounting block 1102, fixed mounting block 1103, floating locking plate 1104, gasket 1105, screw avoidance groove 11051, wire slot plug plate 111, product in-position sensor 112, sensor position drive device 113, second slide rail slider structure 114, vacuum adsorption strip mounting plate 21, vacuum adsorption strip mounting frame 22, vacuum adsorption strip 23, anti-drop plate 24, anti-drop cylinder 25, middle beam 2 6, center beam pre-positioning plate 27, center beam positioning plate 28, L-shaped center beam support plate 281, center beam positioning cylinder 29, center beam positioning plate guide rail 210, bottom cover bottom plate 31, bottom cover support vertical plate 32, lifting hydraulic cylinder 33, bottom cover support total fixed plate 34, translation hydraulic cylinder 35, lifting and translation transfer plate 36, CCD camera 41, translation lifting structure 42, support frame 51, first truss 52, first mobile drive device 53, second truss 54, second mobile drive device 55.

[0033] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0034] A highly compatible box-entry gripper device comprises: a lifting and rotating device (such as any one of the specific implementation cases 1 to 3), a product suction device (such as specific implementation case 6), and a large-surface pressurizing device (such as any one of the specific implementation cases 4 to 5), wherein the output end of the lifting and rotating device is connected to the product suction device, and the lifting and rotating device is connected to the large-surface pressurizing device. The lifting and rotating device integrates lifting and rotating structures, drives the product suction device to lift and rotate, and the directions of movement of the large-surface pressurizing device and the product suction device during the action process are perpendicular to each other and act on different surfaces of the product respectively; the action of the product suction device and the large-surface pressurizing device on multiple surfaces of the product realizes the pick-up and place transfer; the lifting and rotating device is a two-stage lifting and rotating device, the first-stage lifting and rotating structure in the lifting and rotating device is connected to the large-surface pressurizing device, and the second-stage lifting and rotating structure in the lifting and rotating device is connected to the product suction device.

[0035] Specific implementation case 1:

[0036] The lifting and rotating device comprises a top fixed plate 01, an intermediate fixed plate 02, a rotating plate 03, a primary lifting plate 04, a rotating drive component 05, a slewing bearing 06, a lifting drive component 07, a connector component 08, and a secondary lifting plate 09. The top fixed plate 01, the intermediate fixed plate 02, and the primary lifting plate 04 are arranged in sequence from top to bottom. The top fixed plate 01 and the intermediate fixed plate 02 are fixedly connected. The rotating plate 03 is located above or below the intermediate fixed plate 02. The connector component 08 passes through the plate holes of the top fixed plate 01, the intermediate fixed plate 02, and the rotating plate 03, and the bottom is fixedly connected to the primary lifting plate 04. The connector component 08 is connected to the top fixed plate 01 through the slewing bearing 06. 1. The inner wall of the plate hole of the middle fixed plate 02 is rotatably connected, the rotating plate 03 is fixedly connected to the end of the inner ring of the slewing bearing 06 protruding from the plate surface in the plate hole of the top fixed plate 01 or the middle fixed plate 02, the lifting drive component 07 includes a primary lifting drive component 071 and a secondary lifting drive component 072, the primary lifting drive component 071 is installed on the plate surface of the rotating plate 03 and the output shaft is fixedly connected to the primary lifting plate 04; when the lifting drive component 07 also includes a secondary lifting drive component 072, the secondary lifting drive component 072 is fixed on the plate surface of the primary lifting plate 04 and the output end is fixedly connected to the secondary lifting plate 09, and the secondary lifting plate 09 is used to install a product suction device.

[0037] The connector assembly 08 includes a connector body 081, a first Z-axis slide rail slider structure 082, and a height positioning structure 083. The first Z-axis slide rail slider structure 082 is installed on the side panel of the connector body 081. The inner ring of the slewing bearing 06 is fixedly connected to the slider of the first Z-axis slide rail slider structure 082. The inner walls of the panel holes of the top fixed plate 01 and the middle fixed plate 02 are fixedly connected to the outer rings of the corresponding slewing bearings 06. The height positioning structure 083 limits the height of the connector body 081 after adjustment.

[0038] The rotating plate 03 includes an upper rotating plate 031, a lower rotating plate 032, and a rotating plate connecting plate 033. The upper rotating plate 031 and the lower rotating plate 032 are fixedly connected via the rotating plate connecting plate 033. The upper rotating plate 031 is fixedly connected to the end of the slewing bearing 06 protruding from the surface of the top fixed plate 01 in the hole on the plate surface of the top fixed plate 01, or the lower rotating plate 032 is fixedly connected to the end of the slewing bearing 06 protruding from the surface of the middle fixed plate 02 in the hole on the plate surface of the middle fixed plate 02. In simple terms, the rotating plate 03 can be fixedly connected via the upper rotating plate 031 or the lower rotating plate 032 to the convex end surface of the slewing bearing 06 corresponding to the middle fixed plate 02, thereby completing the rotatable connection of the rotating plate 03.

[0039] Furthermore, the secondary lifting plate 09 is connected to the primary lifting plate 04 via a second Z-axis slide rail structure 091. The secondary lifting drive assembly 072 drives the secondary lifting plate 09 to lift relative to the primary lifting plate 04 in a guided manner during the lifting process.

[0040] Specific implementation case 2:

[0041] Based on the specific implementation case 1, the lifting and rotating device also includes one or more of the following preferred technical solutions:

[0042] Optionally, the height positioning structure 083 includes a height positioning cylinder 0831, a positioning pin 0832, and a positioning strip 0833. The surface of the positioning strip 0833 is processed with helical teeth and the positioning strip 0833 is installed on the side surface of the connector body 081. The cylinder mounting plate is fixedly connected to the end surface of the slewing bearing 06 that protrudes from the surface of the intermediate fixed plate 02. The height positioning cylinder 0831 is fixed by the cylinder mounting plate and the piston shaft of the height positioning cylinder 0831 is fixedly connected to the positioning pin 0832. Before the height of the connector body 081 changes, the positioning pin 0832 is away from the helical tooth gap of the positioning strip 0833. After the height adjustment is completed, the positioning pin 0832 is inserted into the helical tooth gap of the positioning strip 0833 to complete the height limiting.

[0043] Optionally, the rotary drive assembly 05 includes a rotary drive device 051, a transmission structure 052, and a transmission gear 053. The rotary drive device 051 is mounted on the top fixed plate 01 and the output end is connected to the transmission structure 052. The transmission structure 052 and the transmission gear 053 are meshed and connected. The transmission gear 053 is fixedly connected to the end of the rotary bearing 06 protruding from the top fixed plate 01 in the hole of the top fixed plate 01. The rotary drive device 051 drives the transmission structure 052 and the transmission gear 053 to rotate, thereby driving the connector assembly 08, the rotating plate 03, and the secondary lifting plate 09 to rotate. The transmission structure 052 is a roller structure (such as Figure 6 as shown).

[0044] Optionally, the primary lifting drive assembly 071 and the secondary lifting drive assembly 072 are one of a servo electric cylinder, a cylinder, a servo screw structure, an electric cylinder, and a slide cylinder. The rotation drive device 051 is a servo motor, an R motor, or other rotation drive devices in the prior art.

[0045] Optionally, in order to reduce material input and improve support strength, the secondary lifting plate 09 and the primary lifting plate 04 can be configured as a lifting frame structure.

[0046] Specific implementation case 3:

[0047] With respect to the connection relationship between the rotating plate 03 and the upper and lower structures in the specific implementation case 1, the following alternative solutions may also be adopted:

[0048] like Figure 6 As shown, the rotating plate 03 is fixedly connected with the end of the inner ring of the slewing bearing 06 protruding from the plate surface in the plate holes of the top fixed plate 01 and the middle fixed plate 02; the rotating plate 03 includes an upper rotating plate 031, a lower rotating plate 032, and a rotating plate connecting plate 033, and the upper rotating plate 031 and the lower rotating plate 032 are fixedly connected via the rotating plate connecting plate 033, the upper rotating plate 031 is fixedly connected with the end of the slewing bearing 06 protruding from the plate surface of the top fixed plate 01 in the plate hole of the top fixed plate 01, and the lower rotating plate 032 is fixedly connected with the end of the slewing bearing 06 protruding from the plate surface of the middle fixed plate 02 in the plate hole of the middle fixed plate 02; in simple terms, the rotating plate 03 can be fixedly connected with the outer convex end surface of the corresponding slewing bearing 06 via the upper rotating plate 031 and the lower rotating plate 032, thereby completing the rotatable connection of the rotating plate 03.

[0049] Specific implementation case 4:

[0050] like Figure 7As shown, the large-surface pressurizing device includes a translation drive device 11, a translation drive device mounting plate 12, a first slide rail slider structure 13, a pressure strip 14, and a wire trough assembly. The first slide rail slider structure 13 is fixedly connected to the lower plate surfaces of the edge plates on both sides of the first-level lifting plate 04. The translation drive device 11 is fixedly installed through the translation drive device mounting plate 12. The output end of the translation drive device mounting plate 12 is fixedly connected to the pressure strip 14. The translation drive device mounting plate 12 and the pressure strip 14 are fixedly connected to the slider of the first slide rail slider structure 13 (connected to different sliders on the slide rail, so that the translation drive device mounting plate 12 and the pressure strip 14 can be translated along the slide rail separately); the wire trough assembly is directly or indirectly fixed to the translation drive device mounting plate 12, and the wire trough assembly is used for routing electrical circuits. The translation drive device 11 and the translation drive device mounting plate 12 change the clamping spacing by translating along the slide rail to adapt to products of different sizes.

[0051] The wire trough assembly includes a threading tube 17, a wire trough fixing cylinder 18, a wire trough cylinder fixing plate 19, a mounting block assembly 110, and a wire trough plug plate 111. The cylinder body of the wire trough fixing cylinder 18 is fixed to the wire trough cylinder fixing plate 19. The piston shaft of the wire trough fixing cylinder 18 passes through the wire trough cylinder fixing plate 19 and the mounting block assembly 110 in sequence and is inserted into the positioning hole of the wire trough plug plate 111. The wire trough plug plate 111 (here, the wire trough plug plate 111 coincides with the edge plate surfaces on both sides of the primary lifting plate 04, as shown in FIG. Figure 5 As shown), a positioning hole is processed on the edge, and the inner side is used to fix the first slide rail slider structure 13) is located above the mounting block assembly 110 and the board surface of the wire trough plug plate 111 is processed with multiple positioning holes, the mounting block assembly 110 is directly or indirectly fixedly connected to the slider in the first slide rail slider structure 13 or the translation drive device mounting plate 12, the wire trough cylinder fixing plate 19 is connected to the mounting block assembly 110, and the threading tube 17 is fixed to the side plate surface of the wire trough cylinder fixing plate 19; in the locked and positioned state, the piston shaft of the wire trough fixing cylinder 18 is lifted and inserted into the positioning hole of the wire trough plug plate 111 above to fix the position of the wire trough assembly, ensuring that when the spacing between the translation drive device mounting plates 12 and the pressure strips 14 at both ends is adjusted according to the product size, the wire trough assembly for running electric / gas pipelines can be translated to a suitable position to avoid line breaking.

[0052] Specific implementation case 5:

[0053] Based on the specific implementation case 4, the large surface pressurizing device also includes one or more of the following preferred technical solutions:

[0054] Optional, such as Figure 8As shown, the mounting block assembly 110 includes an intermediate adapter plate 1101, a floating mounting block 1102, a fixed mounting block 1103, and a floating locking plate 1104. The fixed mounting block 1103 and the wire groove cylinder fixing plate 19 are respectively fixed to the upper and lower plate surfaces of the floating mounting block 1102, and the piston shaft outlet holes of the fixed mounting block 1103, the wire groove cylinder fixing plate 19, and the plate surfaces of the floating mounting block 1102 are arranged in a central manner, and the piston shaft is connected to the inner wall of the plate hole of the fixed mounting block 1103 through a linear bearing; the intermediate adapter plate 1101 is respectively fixedly connected to the sliding block of the translation drive device mounting plate 12 and the first slide rail sliding block structure 13, and the floating mounting The plate surface of the mounting block 1102 is processed with a waist-shaped hole and the screw passes through the waist-shaped hole to float the floating mounting block 1102 and the intermediate adapter plate 1101. The plate surface of the floating locking plate 1104 is processed with a circular threaded hole and a waist-shaped hole. The floating locking plate 1104 is fixedly connected to the intermediate adapter plate 1101 through the circular threaded hole and is floated with the floating mounting block 1102 through the waist-shaped hole. The waist-shaped holes in the floating mounting block 1102 and the floating locking plate 1104 are vertical, which assists the floating mounting block 1102 to complete the position floating in two vertical directions, ensuring the position centering accuracy of the piston shaft of the wire trough fixing cylinder 18 and the positioning hole of its wire trough plug plate 111.

[0055] Optional, such as Figure 7 As shown, the large-surface pressurizing device also includes an auxiliary pressurizing device 15 and a floating pressurizing strip 16. The auxiliary pressurizing device 15 is installed on the plate surface of the pressurizing strip 14 and the output end is fixedly connected to the floating pressurizing strip 16. Optionally, according to the different shapes or materials of the pressurized positions of the products, local contour-matching, avoidance, or anti-compression and scratch structures can be installed on the floating pressurizing strip 14 to ensure that the pressurization can achieve product picking, placing and clamping without causing damage to the products.

[0056] Optional, such as Figure 7 , 8 As shown, the intermediate adapter plate 1101 includes a first intermediate adapter plate 11011 and a second intermediate adapter plate 11012, the second intermediate adapter plate 11012 is fixed to the upper plate surface of the translation drive device mounting plate 12, the upper plate surface of the second intermediate adapter plate 11012 is processed with a mounting groove connected to the edge of a side plate, the lower plate surface of the first intermediate adapter plate 11011 is provided with a sliding block, and the sliding block of the first intermediate adapter plate 11011 slides into place along the mounting groove of the second intermediate adapter plate 11012, and then the first intermediate adapter plate 11011 and the second intermediate adapter plate 11012 are locked, wherein the first intermediate adapter plate 11011 is fixedly connected to the slider of the first slide rail slider structure 13, and the floating mounting block 1102 is floatingly connected to the side plate surface of the first intermediate adapter plate 11011.

[0057] Optional, such as Figure 7 As shown, it also includes a product presence sensor 112, a sensor position driving device 113, and a second slide rail slider structure 114. The product presence sensor 112 is fixedly installed with the slider of the second slide rail slider structure 114 through a mounting plate. The second slide rail slider structure 114 is installed on the upper surface of the pressure strip 14. The sensor position driving device 113 is fixed to the surface of the pressure strip 14 through a mounting plate. The power output shaft of the sensor position driving device 113 is connected to the mounting plate of the product presence sensor 112.

[0058] Optional, such as Figure 7 As shown, the extension direction of the second slide rail slider structure 114 is perpendicular to the extension direction of the first slide rail slider structure 13. The first slide rail slider structure 13 is used to meet the large-surface pressurization needs of products of different widths. The second slide rail slider structure 114 is used to move the product in-position sensor 112 to a suitable length position to sense the presence or absence of the product.

[0059] Optional, such as Figure 8 As shown, the plate surface of the wire slot cylinder fixing plate 19 is processed with a sensing plate through groove 91, the sensing plate passes through the sensing plate through groove 91 and is fixedly connected to the piston shaft of the wire slot fixing cylinder 18, and the sensing body is fixedly connected to the side plate surface of the wire slot cylinder fixing plate 19. The wire slot assembly is in a movable / locked positioning state through the position sensor.

[0060] Optionally, the translation drive device 11, the auxiliary pressurizing device 15, and the sensor position drive device 113 are pneumatic cylinders, electric cylinders, servo motor-screws, or servo electric cylinders.

[0061] Specific implementation case 6:

[0062] like Fig. 9 , 10 As shown, the product suction device includes a vacuum adsorption strip mounting plate 21, a vacuum adsorption strip mounting frame 22, and a vacuum adsorption strip 23. The vacuum adsorption strip mounting frame 22 is connected to the secondary lifting plate 09 (further, connected through a quick-release plate), and the vacuum adsorption strip mounting plate 21 is floatingly connected to the vacuum adsorption strip mounting frame 22 through bolts. The diameter of the bolt hole on the lower plate surface of the vacuum adsorption strip mounting frame 22 is larger than the diameter of the bolt rod. The bottom end of the bolt is fixedly connected to the vacuum adsorption strip 23, and a spring is sleeved on the bolt. A negative pressure airway is machined inside the vacuum adsorption strip 23 (the negative pressure airway is connected to the negative pressure generating device through an air pipe), and a plurality of negative pressure adsorption grooves are machined on the lower plate surface of the vacuum adsorption strip 23, which are arranged at intervals and communicated with the negative pressure airway.

[0063] Optionally, the product suction device also includes an anti-drop plate 24 and an anti-drop cylinder 25, the anti-drop plate 24 is fixedly connected to the vacuum adsorption strip mounting frame 22, the shell of the anti-drop cylinder 25 is directly or indirectly fixed to the secondary lifting plate 09, and the piston shaft of the anti-drop cylinder 25 can extend outward and be inserted into the anti-drop hole of the anti-drop plate 24.

[0064] Specific implementation case 7:

[0065] Based on the specific implementation cases 1 to 6, the highly compatible box entry gripper device also includes one or more of the following preferred technical solutions:

[0066] Optional, such as Fig.11 As shown, the product suction device also includes a center beam 26, a center beam pre-positioning plate 27, a center beam positioning plate 28, a center beam positioning cylinder 29, and a center beam positioning plate guide rail 210. The center beam pre-positioning plate 27, the center beam positioning cylinder 29, and the center beam positioning plate guide rail 210 are all fixedly connected to the secondary lifting plate 09. The center beam pre-positioning plate 27 is processed with a plurality of center beam pre-positioning grooves. The piston shaft of the center beam positioning cylinder 29 is fixedly connected to the center beam positioning plate 28. The center beam positioning plate 28 is provided with an L-shaped center beam support plate 281. The center beam positioning plate 28 is connected to the center beam positioning plate guide rail 210. The center beam 26 is fixedly connected to the slider of the slide rail 210, and the end of the center beam 26 is located in the center beam pre-positioning groove of the center beam pre-positioning plate 27 and is supported by the upper plate surface of the L-shaped center beam support plate 281. The center beam positioning cylinder 29 drives the center beam positioning plate 28 to translate to the lower side corresponding to the center beam pre-positioning groove and drags the center beam 26 so that the center beam 26 is stuck in the enclosed space of the center beam pre-positioning groove and the L-shaped center beam support plate 281, thereby completing the installation of the center beam 26. On the contrary, the disassembly of the center beam 26 is completed by the reverse movement of the center beam positioning cylinder 29, which facilitates the rapid disassembly and assembly of the center beam 26.

[0067] Optionally, it also includes a bottom protection device, such as Fig.12As shown, the bottom support device includes a bottom support bottom plate 31, a bottom support vertical plate 32, a lifting hydraulic cylinder 33, a bottom support total fixed plate 34, a translation hydraulic cylinder 35, and a lifting and translation transfer plate 36. The bottom support bottom plate 31 and the bottom support vertical plate 32 are fixedly connected, and the bottom support vertical plate 32 is connected to the lifting and translation transfer plate 36 in a lifting and guiding manner through a lifting and sliding rail slider structure. The lifting and translation transfer plate 36 and the translation sliding rail slider structure are connected to the bottom support total fixed plate The plate 34 can be connected in a translationally guided manner, the bottom support total fixed plate 34 is fixedly connected to the first-level lifting plate 04, the piston shaft of the lifting hydraulic cylinder 33 is fixedly connected to the upper end of the bottom support vertical plate 32, the cylinder body of the lifting hydraulic cylinder 33 is fixedly connected to the lifting translation adapter plate 36, the cylinder body of the translation hydraulic cylinder 35 is fixedly connected to the bottom support total fixed plate 34 on one side, and the piston shaft is connected to the bottom support total fixed plate 34 on the other side.

[0068] The bottom plates 31 on both sides are driven to perform lifting / translation movements by the lifting hydraulic cylinder 33 and the translation hydraulic cylinder 35; when the bottom device is in operation, it is located below the large-surface pressure device, so as to prevent the product from accidentally falling during the transfer or boxing process under the action of the large-surface pressure device / and the product suction device, and has high safety performance.

[0069] Optional, such as Figure 4 As shown, it also includes a product scanning CCD camera device, which includes a CCD camera 41 and a translation and lifting structure 42. The CCD camera 41 is installed at the power output end of the translation and lifting structure 42, and the translation and lifting structure 42 is installed on the surface of the first-level lifting plate 04. The translation and lifting structure 42 includes a translation drive structure and a lifting drive structure. The translation drive structure is fixedly connected to the first-level lifting plate 04, and the lifting drive structure is fixedly connected to the translation output end of the translation drive structure. The CCD camera 41 is fixedly connected to the output end of the lifting drive structure. The CCD camera 41 is used to identify the barcode / QR code on the surface of the product and identify product information (product model, size, name, etc.), wherein the translation drive structure and the lifting drive structure are respectively drive structures in the prior art, for example, they can be one of a motor-screw structure, a motor-bar tooth structure with gears, a motor-pulley structure, and a cylinder structure.

[0070] Optionally, a moving coordinate system is also included, and the moving coordinate system is a one-dimensional moving coordinate system, a two-dimensional moving coordinate system or a three-dimensional moving coordinate system. The top fixed plate 01 in the lifting and rotating device is fixedly connected to the output end of the moving coordinate system, and the lifting and rotating device is driven to transfer between the starting points through the moving coordinate system, and the first-level lifting drive component 071 drives the first-level lifting plate 04 and the second-level lifting plate 09 to rise and fall, and the second-level lifting drive component 072 drives the second-level lifting plate 09 to rise and fall. For example, Figure 1 As shown, the mobile coordinate system is a two-dimensional mobile coordinate system, which includes a support frame 51, a first truss 52, a first mobile drive device 53, a second truss 54, and a second mobile drive device 55. The first truss 52 is fixed to the upper end of the support frame 51. The first mobile drive device 53 includes a first bar-shaped tooth and a first motor with a gear installed at the rotation output end. The gear is meshed with the first bar-shaped tooth. The first motor is fixedly connected to the first truss 52 through a connecting plate. The second mobile drive device 55 includes a second bar-shaped tooth and a second motor with a gear installed at the rotation output end. The gear is meshed with the second bar-shaped tooth. The second motor is fixedly connected to the top fixed plate 01 through a connecting plate. The lifting and rotating device, the product suction device, and the large-surface pressurizing device are driven to translate in two directions in the plane by the first mobile drive device 53 and the second mobile drive device 55 to complete the long-distance translation of the product.

[0071] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A highly compatible box entry gripper device, characterized in that: It includes a lifting and rotating device, a product suction device, and a large-surface pressurizing device. The output end of the lifting and rotating device is connected to the product suction device, and the lifting and rotating device is connected to the large-surface pressurizing device. The lifting and rotating device integrates lifting and rotating structures to drive the product suction device to lift and rotate. The directions of movement of the large-surface pressurizing device and the product suction device during the action process are perpendicular to each other and act on different surfaces of the product respectively to jointly take materials. The lifting and rotating device is a two-stage lifting and rotating device. The lifting and rotating device comprises a top fixed plate, an intermediate fixed plate, a rotating plate, a first-level lifting plate, a rotating drive assembly, a slewing bearing, a lifting drive assembly, a connector assembly, and a second-level lifting plate. The top fixed plate, the intermediate fixed plate, and the first-level lifting plate are arranged in sequence from top to bottom. The top fixed plate and the intermediate fixed plate are fixedly connected. The rotating plate is located above or below the intermediate fixed plate. The connector assembly passes through the plate holes of the top fixed plate, the intermediate fixed plate, and the rotating plate, and the bottom is fixedly connected to the first-level lifting plate. The connector assembly is rotatably connected to the inner wall of the plate hole of the top fixed plate and the intermediate fixed plate through the slewing bearing. The rotating plate is fixedly connected to the end of the inner ring of the slewing bearing protruding from the plate surface in the plate hole of the top fixed plate or / and the intermediate fixed plate. The lifting drive assembly comprises a first-level lifting drive assembly and a second-level lifting drive assembly. The first-level lifting drive assembly is installed on the plate surface of the rotating plate, and the output shaft is fixedly connected to the first-level lifting plate; the second-level lifting drive assembly is fixed to the plate surface of the first-level lifting plate, and the output end is fixed to the second-level lifting plate The secondary lifting plate is used to install the product suction device; the connector assembly includes a connector body, a first Z-axis slide rail slider structure, and a height positioning structure. The first Z-axis slide rail slider structure is installed on the side panel surface of the connector body. The inner ring of the slewing bearing is fixedly connected to the slider of the first Z-axis slide rail slider structure. The inner walls of the top fixed plate and the middle fixed plate are fixedly connected to the outer ring of the corresponding slewing bearing. The height positioning structure limits the height of the connector body after adjustment; the height positioning structure includes a height positioning cylinder, a positioning pin, and a positioning bar. The positioning bar surface is processed with helical teeth and the positioning bar is installed on the side panel surface of the connector body. The cylinder mounting plate is fixedly connected to the end surface of the slewing bearing protruding from the middle fixed plate surface. The height positioning cylinder is fixed by the cylinder mounting plate and the piston shaft of the height positioning cylinder is fixedly connected to the positioning pin. Before the height of the connector body changes, the positioning pin is away from the helical tooth gap of the positioning bar. After the height adjustment is completed, the positioning pin is inserted into the helical tooth gap of the positioning bar to complete the height limit; The large-surface pressurizing device includes a translational drive device, a translational drive device mounting plate, a first slide rail slider structure, a pressure strip, and a wire trough assembly. The first slide rail slider structure is fixedly connected to the lower plate surface of the first-level lifting plate. The translational drive device is fixedly installed through the translational drive device mounting plate. The output end of the translational drive device mounting plate is fixedly connected to the pressure strip. The translational drive device mounting plate, the pressure strip and the slider of the first slide rail slider structure are fixedly connected. The wire trough assembly is directly or indirectly fixed to the translational drive device mounting plate. The wire trough assembly is used for routing electrical circuits. The translational drive device and the translational drive device mounting plate change the clamping distance by translating along the slide rail to adapt to products of different sizes.

2. A highly compatible box entry gripper device as claimed in claim 1, characterized in that: The rotating plate includes an upper rotating plate, a lower rotating plate, and a rotating plate connecting plate, the upper rotating plate and the lower rotating plate are fixedly connected via the rotating plate connecting plate, the upper rotating plate is fixedly connected to the end of the slewing bearing protruding from the surface of the top fixed plate in the hole of the top fixed plate or / and the lower rotating plate is fixedly connected to the end of the slewing bearing protruding from the surface of the middle fixed plate in the hole of the middle fixed plate; the rotating drive assembly includes a rotating drive device, a transmission structure, and a transmission gear, the rotating drive device is installed on the surface of the top fixed plate and the output end is connected to the transmission structure, the transmission structure and the transmission gear are meshed and connected, and the transmission gear is fixedly connected to the end of the slewing bearing protruding from the surface of the top fixed plate in the hole of the top fixed plate; the secondary lifting plate and the primary lifting plate are connected via a second Z-axis slide rail slider structure.

3. A highly compatible box entry gripper device as claimed in claim 1, characterized in that: The wire trough assembly includes a wire threading tube, a wire trough fixing cylinder, a wire trough cylinder fixing plate, a mounting block assembly, and a wire trough plug plate. The cylinder body of the wire trough fixing cylinder is fixed to the wire trough cylinder fixing plate. The piston shaft of the wire trough fixing cylinder passes through the wire trough cylinder fixing plate and the mounting block assembly in sequence and is inserted into the positioning hole of the wire trough plug plate. The wire trough plug plate is located above the mounting block assembly and the board surface of the wire trough plug plate is processed with multiple positioning holes. The mounting block assembly is directly or indirectly fixedly connected to the slider in the first slide rail slider structure or the translation drive device mounting plate. The wire trough cylinder fixing plate is connected to the mounting block assembly, and the wire threading tube is fixed to the side plate surface of the wire trough cylinder fixing plate; in the locked and positioned state, the piston shaft of the wire trough fixing cylinder is lifted and inserted into the positioning hole of the wire trough plug plate above to fix the position of the wire trough assembly.

4. A highly compatible box entry gripper device as claimed in claim 3, characterized in that: The large-surface pressurizing device also includes an auxiliary pressurizing device and a floating pressurizing strip. The auxiliary pressurizing device is installed on the plate surface of the pressurizing strip and the output end is fixedly connected to the floating pressurizing strip. The mounting block assembly includes an intermediate adapter plate, a floating mounting block, a fixed mounting block, and a floating locking plate. The fixed mounting block and the wire slot cylinder fixing plate are respectively fixed to the upper and lower plate surfaces of the floating mounting block, and the piston shaft outlet holes of the fixed mounting block, the wire slot cylinder fixing plate, and the floating mounting block plate surfaces are centrally arranged. The piston shaft is connected to the inner wall of the plate hole of the fixed mounting block through a linear bearing. The intermediate adapter plate is fixedly connected to the installation plate of the translation drive device and the slider of the first slide rail slider structure respectively; the plate surface of the floating mounting block is processed with a waist-shaped hole and the screw passes through the waist-shaped hole to float the floating mounting block and the intermediate adapter plate; the plate surface of the floating locking plate is processed with a circular threaded hole and a waist-shaped hole; the floating locking plate is fixedly connected to the intermediate adapter plate through the circular threaded hole and floated with the floating mounting block through the waist-shaped hole; the waist-shaped holes in the floating mounting block and the floating locking plate are vertical, which assists the floating mounting block to complete the position floating in two vertical directions.

5. A highly compatible box entry gripper device as claimed in claim 4, characterized in that: The piston shaft of the wire trough fixing cylinder can be adjusted to a position aligned with the positioning hole in the wire trough plug plate by adjusting the relative position of the screw in the waist-shaped hole; or, the mounting block assembly also includes a gasket, the plate surface of the gasket is processed with a screw avoidance groove connected to the edge of the plate, the gasket is avoidance installed between the floating locking plate and the floating mounting block plate surface or / and the gasket is avoidance installed between the intermediate adapter plate and the floating mounting block plate surface, during the installation process, the gap can be inserted from the side, wherein the bolt is avoidance installed in the screw avoidance groove.

6. A highly compatible box entry gripper device as described in any one of claims 3 to 5, characterized in that: It also includes a product presence sensor, a sensor position drive device, and a second slide rail slider structure. The product presence sensor is fixedly installed with the slider of the second slide rail slider structure through a mounting plate. The second slide rail slider structure is installed on the upper plate surface of the pressure strip. The sensor position drive device is fixed to the plate surface of the pressure strip through a mounting plate. The power output shaft of the sensor position drive device is connected to the mounting plate of the product presence sensor.

7. A highly compatible box entry gripper device as claimed in claim 1, characterized in that: The product suction device includes a vacuum adsorption bar mounting plate, a vacuum adsorption bar mounting frame, and a vacuum adsorption bar. The vacuum adsorption bar mounting frame is connected to the secondary lifting plate, and the vacuum adsorption bar mounting plate is floatingly connected to the vacuum adsorption bar mounting frame through bolts. The diameter of the bolt hole on the lower plate surface of the vacuum adsorption bar mounting frame is larger than the diameter of the bolt rod. The bottom end of the bolt is fixedly connected to the vacuum adsorption bar, and a spring is sleeved on the bolt. A negative pressure airway is machined inside the vacuum adsorption bar, and a plurality of negative pressure adsorption grooves are machined on the lower plate surface of the vacuum adsorption bar, which are arranged at intervals and communicated with the negative pressure airway.

8. A highly compatible box entry gripper device as claimed in claim 7, characterized in that: The product suction device also includes a center beam, a center beam pre-positioning plate, a center beam positioning plate, a center beam positioning cylinder, and a center beam positioning plate guide slide rail, wherein the center beam pre-positioning plate, the center beam positioning cylinder, and the center beam positioning plate guide slide rail are all fixedly connected to the secondary lifting plate, and the center beam pre-positioning plate surface is processed with a plurality of center beam pre-positioning grooves, the piston shaft of the center beam positioning cylinder is fixedly connected to the center beam positioning plate, and the center beam positioning plate surface is provided with an L-shaped center beam support plate, and the center beam positioning plate is fixedly connected to the slider of the center beam positioning plate guide slide rail. The end of the center beam is located in the center beam pre-positioning groove of the center beam pre-positioning plate and is supported by the upper plate surface of the L-shaped center beam support plate, and the center beam positioning cylinder drives the center beam positioning plate to translate to the lower side corresponding to the center beam pre-positioning groove, drags the center beam so that the center beam is clamped in the enclosed space between the center beam pre-positioning groove and the L-shaped center beam support plate, thereby completing the installation of the center beam.

9. A highly compatible box entry gripper device as claimed in claim 1, characterized in that: It also includes a bottom support device, which includes a bottom support base plate, a bottom support vertical plate, a lifting hydraulic cylinder, a bottom support total fixed plate, a translation hydraulic cylinder, and a lifting and translation transfer plate. The bottom support base plate and the bottom support vertical plate are fixedly connected, the bottom support vertical plate can be lifted and guided with the lifting and translation transfer plate through a lifting slide rail slider structure, the lifting and translation transfer plate and the translation slide rail slider structure can be translationally guided with the bottom support total fixed plate, the bottom support total fixed plate is fixedly connected to the first-level lifting plate, the piston shaft of the lifting hydraulic cylinder is fixedly connected to the upper end of the bottom support vertical plate, the cylinder body of the lifting hydraulic cylinder is fixedly connected to the lifting and translation transfer plate, the cylinder body of the translation hydraulic cylinder is fixedly connected to the bottom support total fixed plate on one side, and the piston shaft is connected to the bottom support total fixed plate on the other side.

10. A highly compatible box entry gripper device as claimed in claim 1, characterized in that: It also includes a product scanning CCD camera device, which includes a CCD camera and a translational lifting structure. The CCD camera is installed at the power output end of the translational lifting structure, and the translational lifting structure is installed on the surface of the first-level lifting plate. The translational lifting structure includes a translational drive structure and a lifting drive structure. The translational drive structure is fixedly connected to the first-level lifting plate, and the lifting drive structure is fixedly connected to the translation output end of the translational drive structure. The CCD camera is fixedly connected to the output end of the lifting drive structure. The CCD camera is used to identify the barcode / QR code on the surface of the product.

11. A highly compatible box entry gripper device as claimed in claim 1, characterized in that: It also includes a moving coordinate system, which is a one-dimensional moving coordinate system, a two-dimensional moving coordinate system or a three-dimensional moving coordinate system. The top fixed plate in the lifting and rotating device is fixedly connected to the output end of the moving coordinate system. The lifting and rotating device is driven to transfer between starting points through the moving coordinate system, and the first-level lifting plate and the second-level lifting plate are driven to rise and fall through the first-level lifting drive component, and the second-level lifting plate is driven to rise and fall through the second-level lifting drive component.

Images