Automatic clamp for turnover box

Abstract

The invention discloses an automatic clamp for turnover boxes, which can be compatible with accumulated position errors when multiple layers of turnover boxes are stacked, so that automatic production of turnover box transfer is realized. The turnover box automatic claw can be compatible with grabbing and transferring of turnover box covers. The turnover box claw positioning detection mechanism has a protection function, the detection switch can detect the compression amount of the compression spring, when the compression amount of the spring reaches the maximum set value, the positioning taper pin limiting piece at the tail of the positioning taper pin can be detected by the detection switch, and equipment is reminded that the force applied by the positioning taper pin to a turnover box reaches a limit value. The proximity switch can be used for detecting whether the turnover box exists or not when the turnover box is grabbed by the automatic claw. And the bottom-holding design is adopted, so that the gripper bottom plate can extend into a turnover box handle when the gripper grips, and the falling risk of the turnover box in the transfer process is greatly eliminated.

Description

Technical Field

[0001] The invention relates to the technical field of handling fixtures, and in particular to an automated and flexible automatic fixture for turnover boxes. Background Art

[0002] As a common material storage unit, turnover boxes are often used for the transportation and temporary storage of materials in industrial production. Since turnover boxes are usually made of plastic, the box body is easily deformed. The clamping method determines the safety and reliability of the turnover box during transportation.

[0003] Turnover boxes are usually stacked in multiple layers. Currently, most of the handling of turnover boxes is done manually or with the assistance of a power-assisted crane to unpack and stack them. This is labor-intensive and inefficient. Although a 3D camera is installed on a conventional automated fixture to provide the fixture with accurate coordinates and guide the automated fixture to grab. However, there is a risk that conventional automated fixtures will be compatible with the cumulative position error when turnover boxes are stacked in multiple layers. In addition, since the material of the turnover box is usually plastic, the box body is easily deformed, and the grasping position will be inaccurate when grasping, which poses a certain safety risk. Therefore, an automated and flexible turnover box automatic fixture is needed that can be compatible with the cumulative position error when multiple layers are stacked, thereby realizing the automated production of turnover box transportation. Summary of the invention

[0004] In view of the above problems, the present invention provides an automatic clamp for turnover boxes for overcoming the above problems or at least partially solving the above problems. The automatic clamp can accommodate the accumulated position error when the turnover boxes are stacked in multiple layers, thereby realizing the automatic production of turnover box transfer.

[0005] The present invention provides the following scheme:

[0006] An automatic clamp for a turnover box, comprising:

[0007] A main frame, the main frame comprising a fixture top plate and two cylinder mounting plates; the fixture top plate is provided with two sets of sliding guide rails;

[0008] A pair of gripper bodies, the gripper bodies comprising a gripper bottom plate, a gripper connecting plate, a gripper supporting angle plate and a gripper top plate; the gripper bottom plate is fixed to the gripper connecting plate, the gripper connecting plate and the gripper top plate are fixedly connected via two gripper supporting angle plates; the gripper bottom plate is used to extend into the handle of the turnover box when grasping; the pair of gripper bodies each comprises the gripper top plate, which is respectively connected to the two sets of the sliding guide rails in one-to-one correspondence via sliders;

[0009] Two double-stroke cylinders, the two double-stroke cylinders are connected to the two cylinder mounting plates one by one, and the front ends of the cylinder telescopic rods of the two double-stroke cylinders are connected to the gripper top plates respectively included in a pair of gripper bodies through cylinder connectors one by one; the two double-stroke cylinders are used to drive the gripper top plates respectively included in a pair of gripper bodies to approach or separate synchronously;

[0010] Four positioning detection mechanisms, all of which are connected to the lower surface of the fixture top plate; the positioning detection mechanism comprises a linear bearing, a positioning cone pin, a positioning pin limiting piece, a compression spring and a spring limiting piece; the linear bearing is connected to the fixture top plate, the positioning cone pin is matched and connected in the linear bearing and realizes top limiting through the positioning pin limiting piece, the compression spring is sleeved on the outside of the positioning cone pin and limited between the spring limiting piece and the linear bearing;

[0011] Among them, during the downward movement of the main frame, the heads of the four positioning cone pins of the four positioning detection mechanisms enter the interior of the turnover box. When the position of the turnover box is offset, the inclined surface of the positioning cone pin contacts the inner wall of the turnover box. As the positioning detection mechanism continues to move downward as a whole, the positioning cone pin moves upward relative to the linear bearing, so that the compression spring is compressed. The positioning cone pin is subjected to the downward reaction force of the compression spring, combined with the lateral force applied by the conical surface in contact with the inner wall of the turnover box. The positioning detection mechanism moves downward as a whole, which increases the compression amount of the spring and increases the lateral force of the positioning cone pin on the turnover box until the position of the turnover box is corrected, so as to achieve the purpose of eliminating the cumulative position error of the turnover box when multiple layers are stacked.

[0012] Preferably: it also includes a bearing mounting plate, a balancing bearing, a balancing bar and two connecting bars; the bearing mounting plate is connected to the fixture top plate, the balancing bearing is connected to the bearing mounting plate, and the middle part of the balancing bar is cooperatively connected to the balancing bearing; one end of each of the two connecting bars is hinged to the two ends of the balancing bar in a one-to-one correspondence; the other end of each of the two connecting bars is hinged to the two gripper top plates in a one-to-one correspondence.

[0013] Preferably, the middle portion of the balancing bar is cooperatively connected with the balancing bearing via a transmission pin.

[0014] Preferably: one end of each of the two connecting bars is hinged to the two ends of the balancing bar in a one-to-one correspondence through a hinge pin; the other end of each of the two connecting bars is hinged to the two gripper top plates in a one-to-one correspondence through a connecting bar mounting block.

[0015] Preferably: a proximity switch is provided on the gripper connecting plate, and the proximity switch is triggered after the gripper base plate is inserted into the handle of the turnover box and into place.

[0016] Preferably, the positioning detection mechanism further comprises a bearing seat, and the linear bearing is connected to the fixture top plate via the bearing seat.

[0017] Preferably: the positioning detection mechanism further comprises a detection switch, the detection switch is connected to the bearing seat via a switch bracket, and the detection switch is used to detect the position of the positioning cone pin.

[0018] Preferably, the fixture top plate and the two cylinder mounting plates are connected together via two fixture side support plates.

[0019] Preferably: it also includes a plurality of suction cup assemblies, and the plurality of suction cup assemblies are connected to the gripper top plate; the plurality of suction cup assemblies are used to grasp the box cover.

[0020] Preferably: the suction cup assembly includes a suction cup connecting steel pipe and a vacuum suction cup, one end of the suction cup connecting steel pipe is connected to the lower surface of the gripper top plate, and the other end of the suction cup connecting steel pipe is connected to the vacuum suction cup.

[0021] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0022] An automatic clamp for turnover boxes provided in an embodiment of the present application can accommodate the cumulative position error when the turnover boxes are stacked in multiple layers, thereby realizing the automated production of turnover box transportation. The turnover box automatic gripper can accommodate the grabbing and transportation of the turnover box cover. The turnover box gripper positioning detection mechanism is provided with a protection function. The detection switch can detect the compression of the compression spring. When the spring compression reaches the maximum set value, the positioning cone pin limiter at the tail of the positioning cone pin will be detected by the detection switch, reminding the equipment that the force applied by the positioning cone pin to the turnover box reaches the limit value. The proximity switch can be used to detect the presence or absence of the turnover box when the automatic gripper grabs the turnover box. With the bottom-covering design, the gripper bottom plate will extend into the turnover box handle when the gripper grabs, which greatly eliminates the risk of falling during the turnover box transportation process. The linkage lever mechanism composed of bearings, rotating pins, balance bars, connecting bars, hinge pins, etc. can ensure the synchronization of the movement of the grab plates on both sides and improve the stability of the equipment.

[0023] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a structural schematic diagram of an automatic clamp for a turnover box provided by an embodiment of the present invention;

[0026] Figure 2 is a cross-sectional view of an automatic clamp for a turnover box provided by an embodiment of the present invention;

[0027] Figure 3 is a top view of an automatic clamp for a turnover box provided by an embodiment of the present invention;

[0028] Figure 4 It is a structural schematic diagram of a positioning detection mechanism provided in an embodiment of the present invention.

[0029] In the figure: positioning detection mechanism 1, bearing seat 101, linear bearing 102, compression spring 103, positioning cone pin 104, spring limit plate 105, positioning cone pin limit plate 106, switch bracket 107, detection switch 108, fixture top plate 2, fixture side support plate 3, gripper bottom plate 4, gripper connecting plate 5, gripper support angle plate 6, gripper top plate 7, proximity switch 8, vacuum suction cup 9, suction cup connecting steel pipe 10, sliding guide rail 11, double-stroke cylinder 12, cylinder mounting plate 13, cylinder connecting head 14, bearing mounting plate 15, balance bearing 16, rotating pin 17, balance bar 18, connecting bar 19, hinge pin 20, connecting bar mounting block 21, turnover box 22. DETAILED DESCRIPTION

[0030] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0031] See also Figure 1 , an automatic clamp for a turnover box provided by an embodiment of the present invention, such as Figure 1 As shown, the device may include:

[0032] The main frame includes a clamp top plate 2 and two cylinder mounting plates 13; two sets of sliding guide rails 11 are arranged on the clamp top plate 2; in specific implementation, the embodiment of the present application can provide that the clamp top plate 2 and the two cylinder mounting plates 13 are connected together through two clamp side support plates 2.

[0033] A pair of gripper bodies, the gripper bodies comprising a gripper bottom plate 4, a gripper connecting plate 5, a gripper supporting angle plate 6 and a gripper top plate 7; the gripper bottom plate 4 is fixed on the gripper connecting plate 5, the gripper connecting plate 5 and the gripper top plate 7 are fixedly connected via two gripper supporting angle plates 6; the gripper bottom plate 4 is used to extend into the handle of the turnover box 22 when grasping; the pair of gripper bodies each comprising the gripper top plate 7 respectively corresponding to the two sets of the sliding guide rails 11 through the slider;

[0034] Two double-stroke cylinders 12, the two double-stroke cylinders 12 are connected to the two cylinder mounting plates 13 one by one, and the front ends of the cylinder telescopic rods of the two double-stroke cylinders 12 are connected to the gripper top plates 7 respectively included in a pair of gripper bodies through cylinder connectors 14 one by one; the two double-stroke cylinders 12 are used to drive the gripper top plates 7 respectively included in a pair of gripper bodies to approach or separate synchronously;

[0035] Four positioning detection mechanisms 1, all of which are connected to the lower surface of the fixture top plate 2; the positioning detection mechanism 1 comprises a linear bearing 102, a positioning cone pin 104, a positioning pin limiting piece, a compression spring 103 and a spring limiting piece 105; the linear bearing 102 is connected to the fixture top plate 2, the positioning cone pin 104 is matched and connected in the linear bearing 102 and the top limit is achieved through the positioning pin limiting piece, the compression spring 103 is sleeved on the outside of the positioning cone pin 104 and is limited between the spring limiting piece 105 and the linear bearing 102;

[0036] Among them, during the downward movement of the main frame, the heads of the four positioning cone pins 104 of the four positioning detection mechanisms 1 enter the interior of the turnover box 22. When the position of the turnover box 22 is offset, the inclined surface of the positioning cone pin 104 contacts the inner wall of the turnover box 22. As the positioning detection mechanism 1 continues to move downward as a whole, the positioning cone pin 104 moves upward relative to the linear bearing 102, so that the compression spring 103 is compressed. The positioning cone pin 104 is subjected to the downward reaction force of the compression spring 103, combined with the lateral force applied by the conical surface in contact with the inner wall of the turnover box 22. The positioning detection mechanism 1 moves downward as a whole, which increases the compression amount of the spring compression, and increases the lateral force of the positioning cone pin 104 on the turnover box 22 until the position of the turnover box 22 is corrected, so as to achieve the purpose of eliminating the cumulative position error of the turnover box 22 when multiple layers are stacked.

[0037] The automatic clamp for the turnover box 22 provided in the embodiment of the present application can automatically adjust the position of the turnover box 22 during the descent of the clamp through the four positioning detection mechanisms 1 provided, so that the clamp can be compatible with the cumulative position error when the turnover box 22 is stacked in multiple layers, thereby realizing the automated production of the transfer of the turnover box 22. The turnover box claw adopts a bottom-covering design, and the gripper bottom plate 4 will extend into the handle of the turnover box 22 when the claw grabs, which greatly eliminates the risk of the turnover box 22 falling during the transfer process.

[0038] In order to ensure that the gripper bodies on both sides can move synchronously, the embodiment of the present application can provide a bearing mounting plate 15, a balance bearing 16, a balance bar 18 and two connecting bars 19; the bearing mounting plate 15 is connected to the fixture top plate 2, the balance bearing 16 is connected to the bearing mounting plate 15, and the middle part of the balance bar 18 is matched and connected to the balance bearing 16; one end of each of the two connecting bars 19 is hinged to the two ends of the balance bar 18 one by one; the other end of each of the two connecting bars 19 is hinged to the two gripper top plates 7 one by one.

[0039] Furthermore, the middle of the balance bar 18 is connected to the balance bearing 16 through a transmission pin. One end of each of the two connecting bars 19 is hinged to the two ends of the balance bar 18 through a hinge pin 20; the other end of each of the two connecting bars 19 is hinged to the two gripper top plates 7 through a connecting bar mounting block 21.

[0040] The turnover box claw is designed with a linkage mechanism. The linkage lever mechanism composed of a bearing, a rotating pin 17, a balance bar 18, a connecting bar 19, a hinge pin, etc. can ensure the synchronization of the movement of the grab plates on both sides and improve the stability of the equipment.

[0041] In order to detect the presence of the turnover box 22, the embodiment of the present application may provide a proximity switch 8 on the gripper connecting plate 5, and the proximity switch 8 is triggered after the gripper base plate 4 is inserted into the handle of the turnover box 22. The proximity switch 8 can be used to detect the presence of the turnover box 22 when the automatic gripper grabs the turnover box 22.

[0042] In order to facilitate the installation of the positioning detection mechanism 1, the embodiment of the present application can provide that the positioning detection mechanism 1 also includes a bearing seat 101, and the linear bearing 102 is connected to the fixture top plate 2 through the bearing seat 101. The positioning detection mechanism 1 also includes a detection switch 108, and the detection switch 108 is connected to the bearing seat 101 through a switch bracket 107. The detection switch 108 is used to detect the position of the positioning cone pin 104. The turnover box claw positioning detection mechanism 1 is provided with a protection function. The detection switch 108 can detect the compression amount of the compression spring 103. When the spring compression amount reaches the maximum set value, the positioning cone pin limit piece 106 at the tail of the positioning cone pin 104 will be detected by the detection switch 108, reminding the device that the force applied by the positioning cone pin 104 to the turnover box has reached the limit value.

[0043] In order to achieve the grasping of the box cover, the embodiment of the present application can also provide a plurality of suction cup assemblies, and the plurality of suction cup assemblies are connected to the gripper top plate 7; the plurality of suction cup assemblies are used to achieve the grasping of the box cover.

[0044] Furthermore, the suction cup assembly includes a suction cup connecting steel pipe 10 and a vacuum suction cup 9 , one end of the suction cup connecting steel pipe 10 is connected to the lower surface of the gripper top plate 7 , and the other end of the suction cup connecting steel pipe 10 is connected to the vacuum suction cup 9 .

[0045] Taking the suction cup assembly as an example, the specific structure and usage method of the automatic clamp for turnover boxes provided in the present application are introduced in detail below.

[0046] The connection relationship between the components of the turnover box automatic fixture includes:

[0047] The fixture top plate 2 and two cylinder mounting plates 13 are connected together through two fixture side support plates 3 to form a fixture main frame. The two fixture side support plates 3 are each equipped with two sliding guide rails 11 and two positioning detection mechanisms 1. The gripper bottom plate 4 is fixed on the gripper connecting plate 5. The gripper connecting plate 5 and the gripper top plate 7 are connected together through two gripper support angle plates 6 to form a gripper main body. The gripper connecting plate 6 is equipped with a proximity switch 8. Two suction cup connecting steel pipes 10 are installed on each gripper top plate 7. The lower side of the suction cup connecting steel pipe 10 is connected to a vacuum suction cup 9. The gripper top plate 7 is connected to the sliders of the two sliding guide rails 11, so that the gripper main body can move along the direction of the sliding guide rails 11.

[0048] The double-stroke cylinder 12 is fixed on the cylinder mounting plate 13, and the front end of the cylinder telescopic rod is equipped with a cylinder connector 14, which is connected to the gripper top plate 7. A bearing mounting plate 15 is connected between the two clamp side support plates 3, and a bearing 16 is installed in the bearing mounting plate 15. The balance bar 18 is connected to the bearing 16 through a rotating pin 17, and the two ends of the balance bar 18 are respectively connected to a connecting bar 19 through a hinge pin 17, and the other end of the connecting bar 19 is connected to the connecting bar mounting block 21 on the gripper connecting plate 5 through a hinge pin 20.

[0049] The connection relationship of the automatic fixture positioning detection mechanism 1 for turnover boxes is that a linear bearing 102 is fixed on the bearing seat 101, a spring stopper 105 is sleeved on the positioning cone pin 104, the upper part of the positioning cone pin 104 passes through the linear bearing 102 and is connected to a positioning cone pin stopper 106 to prevent the positioning cone pin 104 from falling due to gravity, and the compression spring 103 is sleeved on the positioning cone pin 104 and is located between the spring stopper 105 and the bearing seat 101. The switch bracket 107 is installed on the fixture top plate 2, and the switch bracket 107 is installed with a detection switch 108 and is installed on the bearing seat 101 as a whole, which is used to detect the position of the positioning cone pin 104.

[0050] The working process of the turnover box automatic gripper includes:

[0051] When it is necessary to grab the turnover box 22, the robot drives the automatic gripper of the turnover box to move to the top of the turnover box 22, so that the four positioning cone pins 104 of the positioning detection mechanism 1 stay above the four corners inside the turnover box 22. As the robot drives the automatic gripper of the turnover box to move downward, the heads of the four positioning cone pins 104 of the positioning detection mechanism 1 enter the inside of the turnover box 22. When the position of the turnover box 22 shifts, the inclined surface of the positioning cone pin 104 contacts the inner wall of the turnover box 22. As the positioning detection mechanism 1 continues to move downward as a whole, the positioning cone pin 104 The relative linear bearing 102 moves upward, causing the compression spring 103 on the positioning cone pin 104 to be compressed. The positioning cone pin 104 will be subjected to the downward reaction force of the compression spring 103. The positioning cone pin 104 then applies a lateral force through the conical surface in contact with the inner wall of the turnover box 22. The continuous downward movement of the positioning detection mechanism 1 as a whole will cause the compression of the spring to continue to increase, thereby causing the lateral force of the positioning cone pin 104 on the turnover box 22 to continue to increase until the position of the turnover box 22 is corrected, thereby eliminating the cumulative position error of the turnover box 22 when stacked in multiple layers. After the automatic gripper of the turnover box is lowered into place, the two double-stroke cylinders 12 work, driving a stroke to drive the gripper connecting plate 5 to close, and then the automatic gripper rises as a whole, so that the bottom plate of the gripper lifts the turnover box 22 up, realizing the grasping and transportation of the turnover box 22.

[0052] The automatic gripper of the turnover box can grab the turnover box cover, and the working process includes:

[0053] After the robot drives the automatic gripper of the turnover box to move to the top of the turnover box cover, the two double-stroke cylinders 12 work, driving the two-stage stroke to move the vacuum suction cup 9 to the turnover box cover, and the robot drives the automatic gripper of the turnover box to move downward, so that the four vacuum suction cups 9 contact the turnover box cover and adsorb it, and then the automatic gripper rises as a whole, driving the turnover box cover to rise, thereby realizing the grasping and transportation of the turnover box cover.

[0054] The turnover box claw positioning detection mechanism 1 is provided with a protection function. The detection switch 108 can detect the compression amount of the compression spring 103. When the spring compression amount reaches the maximum set value, the positioning cone pin limit plate 106 at the tail of the positioning cone pin 104 will be detected by the detection switch 108, reminding the equipment that the force applied by the positioning cone pin 104 on the turnover box has reached the limit value.

[0055] The proximity switch 8 can be used to detect the presence or absence of the turnover box 22 when the automatic gripper grabs the turnover box 22.

[0056] The turnover box claw adopts a bottom-covering design, and the gripper bottom plate 4 will extend into the handle of the turnover box 22 when the claw grabs, which greatly eliminates the risk of the turnover box 22 falling during transportation.

[0057] The turnover box claw is designed with a linkage mechanism. The linkage lever mechanism composed of a bearing, a rotating pin 17, a balance bar 18, a connecting bar 19, a hinge pin, etc. can ensure the synchronization of the movement of the grab plates on both sides and improve the stability of the equipment.

[0058] In summary, the automatic clamp for turnover boxes provided by the present application can accommodate the cumulative position error when the turnover boxes are stacked in multiple layers, thereby realizing the automated production of turnover box transportation. The automatic gripper for turnover boxes can accommodate the grabbing and transportation of turnover box covers. The positioning detection mechanism of the turnover box gripper is provided with a protection function. The detection switch can detect the compression of the compression spring. When the spring compression reaches the maximum set value, the positioning cone pin limiter at the tail of the positioning cone pin will be detected by the detection switch, reminding the equipment that the force applied by the positioning cone pin to the turnover box reaches the limit value. The proximity switch can be used to detect the presence or absence of the turnover box when the automatic gripper grabs the turnover box. With the bottom-covering design, the gripper bottom plate will extend into the turnover box handle when the gripper grabs, which greatly eliminates the risk of falling during the turnover box transportation process. The linkage lever mechanism composed of bearings, rotating pins, balance bars, connecting bars, hinge pins, etc. can ensure the synchronization of the movement of the grab plates on both sides and improve the stability of the equipment.

[0059] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0060] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0061] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An automatic clamp for a turnover box, characterized in that: include: A main frame, the main frame comprising a fixture top plate and two cylinder mounting plates; the fixture top plate is provided with two sets of sliding guide rails; A pair of gripper bodies, the gripper bodies comprising a gripper bottom plate, a gripper connecting plate, a gripper supporting angle plate and a gripper top plate; the gripper bottom plate is fixed to the gripper connecting plate, the gripper connecting plate and the gripper top plate are fixedly connected via two gripper supporting angle plates; the gripper bottom plate is used to extend into the handle of the turnover box when grasping; the pair of gripper bodies each comprises the gripper top plate, which is respectively connected to the two sets of the sliding guide rails in one-to-one correspondence via sliders; Two double-stroke cylinders, the two double-stroke cylinders are connected to the two cylinder mounting plates one by one, and the front ends of the cylinder telescopic rods of the two double-stroke cylinders are connected to the gripper top plates respectively included in a pair of gripper bodies through cylinder connectors one by one; the two double-stroke cylinders are used to drive the gripper top plates respectively included in a pair of gripper bodies to approach or separate synchronously; Four positioning detection mechanisms, all of which are connected to the lower surface of the fixture top plate; the positioning detection mechanism comprises a linear bearing, a positioning cone pin, a positioning pin limiting piece, a compression spring and a spring limiting piece; the linear bearing is connected to the fixture top plate, the positioning cone pin is matched and connected in the linear bearing and realizes top limiting through the positioning pin limiting piece, the compression spring is sleeved on the outside of the positioning cone pin and limited between the spring limiting piece and the linear bearing; Among them, during the downward movement of the main frame, the heads of the four positioning cone pins of the four positioning detection mechanisms enter the interior of the turnover box. When the position of the turnover box is offset, the inclined surface of the positioning cone pin contacts the inner wall of the turnover box. As the positioning detection mechanism continues to move downward as a whole, the positioning cone pin moves upward relative to the linear bearing, so that the compression spring is compressed. The positioning cone pin is subjected to the downward reaction force of the compression spring, combined with the lateral force applied by the conical surface in contact with the inner wall of the turnover box. The positioning detection mechanism moves downward as a whole, which increases the compression amount of the spring and increases the lateral force of the positioning cone pin on the turnover box until the position of the turnover box is corrected, so as to achieve the purpose of eliminating the cumulative position error of the turnover box when multiple layers are stacked.

2. The automatic clamp for turnover boxes according to claim 1, characterized in that: It also includes a bearing mounting plate, a balancing bearing, a balancing bar and two connecting bars; the bearing mounting plate is connected to the fixture top plate, the balancing bearing is connected to the bearing mounting plate, and the middle part of the balancing bar is cooperatively connected to the balancing bearing; one end of each of the two connecting bars is hinged to the two ends of the balancing bar in a one-to-one correspondence; the other end of each of the two connecting bars is hinged to the two gripper top plates in a one-to-one correspondence.

3. The automatic clamp for turnover boxes according to claim 2, characterized in that: The middle part of the balancing bar is matched and connected with the balancing bearing through a transmission pin.

4. The automatic clamp for turnover boxes according to claim 2, characterized in that: One end of each of the two connecting bars is hinged to the two ends of the balancing bar in a one-to-one correspondence through a hinge pin; the other end of each of the two connecting bars is hinged to the two gripper top plates in a one-to-one correspondence through a connecting bar mounting block.

5. The automatic clamp for turnover boxes according to claim 1, characterized in that: A proximity switch is arranged on the gripper connecting plate, and the proximity switch is triggered after the gripper base plate is inserted into the handle of the turnover box and reaches the position.

6. The automatic clamp for turnover boxes according to claim 1, characterized in that: The positioning detection mechanism also includes a bearing seat, and the linear bearing is connected to the fixture top plate through the bearing seat.

7. The automatic clamp for a turnover box according to claim 6, characterized in that: The positioning detection mechanism also includes a detection switch, which is connected to the bearing seat through a switch bracket, and the detection switch is used to detect the position of the positioning cone pin.

8. The automatic clamp for a turnover box according to claim 1, characterized in that: The fixture top plate and the two cylinder mounting plates are connected together through two fixture side support plates.

9. The automatic clamp for a turnover box according to claim 1, characterized in that: It also includes a plurality of suction cup assemblies, and a plurality of the suction cup assemblies are connected to the gripper top plate; and a plurality of the suction cup assemblies are used to grasp the box cover.

10. The automatic clamp for a turnover box according to claim 9, characterized in that: The suction cup assembly includes a suction cup connecting steel pipe and a vacuum suction cup, one end of the suction cup connecting steel pipe is connected to the lower surface of the gripper top plate, and the other end of the suction cup connecting steel pipe is connected to the vacuum suction cup.

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