Edible oil bucket lifting handle encasement grabbing device

Abstract

The invention relates to the technical field of grabbing mechanisms, in particular to an edible oil barrel handle encasement grabbing device which structurally comprises a rack, a stacking mechanism arranged on the rack and used for containing handles, and a grabbing mechanism used for grabbing the handles from the stacking mechanism into a packaging box. The three-axis moving mechanism is arranged at one end of the machine frame and used for driving the grabbing mechanism to move between the stacking mechanism and the packaging box, the grabbing mechanism comprises a fixing plate connected to the three-axis moving mechanism, the positioning column is combined with the first lifting mechanism, and during grabbing, the positioning column is promoted to penetrate through the middle of the stacked lifting glove rings, so that the grabbing efficiency is improved. The handle grabbing and boxing device is directly inserted into the lowermost handle sleeve ring and is driven by the first transmission mechanism to be unfolded and folded, so that the handle grabbing and boxing actions are completed, in the grabbing process, the situation that the side wall of the handle is deformed due to too large stress is effectively avoided, and the situation that the handle deviates in the grabbing and boxing process is avoided; and the handle boxing efficiency and precision are obviously improved.

Description

Technical Field

[0001] The invention relates to the technical field of grabbing mechanisms, in particular to a grabbing device for edible oil barrel handle packing. Background Art

[0002] A cartoning machine is a device that packs unpackaged products or small-packaged products into boxes in a certain arrangement and quantity. As bottled goods are used more and more widely, automatic cartoning machines, as a process equipment in industrial production, are playing an increasingly important role. After the oil bottle handles are injection molded, the industrial robot arm will automatically stack the molded parts on the material sorting platform. After the handles are arranged in a directional manner on the sorting platform, they need to be accurately transferred to the packaging container through an automatic gripping device. For example, the patent document with the patent number of CN217805521U discloses a gripper for packing a handle of an oil bottle, which comprises a gripper main frame, a gripper sliding mechanism, and a plurality of grippers, wherein the gripper sliding mechanism is arranged on the gripper main frame, and the plurality of grippers are arranged on the gripper sliding mechanism and the gripper main frame respectively; the gripper sliding mechanism comprises a slide rail, a slider, a slide frame, and a cylinder, wherein the cylinder and the slide rail are arranged on the gripper main frame, the slider is arranged on the slide rail, and the piston rod of the cylinder is connected to the slider through the slide frame; The following deficiencies still exist in its actual application: in order to improve the efficiency of handle production and the space utilization of packaging boxes, after the handles are injection molded, they are stacked by corresponding settings at the handle rings and staggered settings of the handles. The existing oil bottle handle packing gripper uses four fingers to clamp the four inner corners of the handle at the same time to complete the grabbing action. This grabbing method causes the side wall of the handle to be subjected to force during grabbing, which can easily cause the handle to deform. At the same time, this method is only applicable to grabbing in a manner where the handle and the ring are completely aligned and stacked in sequence, and cannot adapt to grabbing in a manner where the handles are staggered. When the gripper is directly used to grab the handles in a manner where the handles are staggered and stacked, the handle rings will be offset, thereby affecting the positioning accuracy of the packaging. In addition, after the existing gripper grabs a handle on the stacking platform each time, it cannot perform a second grab, nor can it grab two handles of different specifications at the same time, which greatly limits the efficiency and flexibility of packaging. Summary of the invention

[0003] The present invention provides a edible oil barrel handle packing grabbing device, which can effectively solve the above-mentioned problem.

[0004] The present invention is achieved in that: A grabbing device for packing edible oil barrel handles, the structure of which includes: a frame, a stacking mechanism on which a handle is placed, a grabbing mechanism for grabbing the handle from the stacking mechanism to a packaging box, and a three-axis moving mechanism installed at one end of the frame for driving the grabbing mechanism to move between the stacking mechanism and the packaging box, the grabbing mechanism includes a fixed plate connected to the three-axis moving mechanism, a plurality of grabbing units are evenly distributed in a matrix at the bottom of the fixed plate, the grabbing unit includes a positioning column fixed below the fixed plate, the positioning column is a hollow cylindrical structure that passes through from top to bottom, a first lifting mechanism is arranged in the positioning column, the first lifting mechanism includes a connecting block fixed in the positioning column, side plates respectively fixed to the front and rear ends of the connecting block, card blocks rotatably connected by a rotating shaft are respectively arranged on both sides of the bottom between the two side plates, a support plate extends outward from the bottom of the card block, a first clearance hole for two card blocks and the support plate to pass through is respectively arranged at the bottom of the positioning column, and a first transmission mechanism for controlling the simultaneous expansion and contraction of the two card blocks is also included.

[0005] As a further improvement, the first transmission mechanism includes a rocker arm arranged at the top of the card block, a driving cylinder is fixed on the top of the connecting block, a telescopic groove is provided in the connecting block for the telescopic rod of the driving cylinder to slide up and down, two groups of chain plates are provided between the bottom of the telescopic rod of the driving cylinder and the rocker arm, and the two ends of each group of chain plates are respectively hinged to the bottom of the telescopic rod of the driving cylinder and the top of the rocker arm through pins, the inlet and outlet nozzles of the driving cylinder are respectively connected to air pipes, and the top of the fixed plate is provided with mounting holes corresponding to each positioning column, and the air pipes extend upward along the inner cavity of the positioning column and are connected to the air pump through the mounting holes.

[0006] As a further improvement, a second lifting mechanism is also provided in the positioning column, and the second lifting mechanism includes a lifting plate located above the first lifting mechanism, and two connecting rods extending vertically downward are provided at the bottom of the lifting plate, and the two connecting rods are respectively provided at the front and rear ends of the first lifting mechanism, and a rotating groove is provided at the bottom of each connecting rod, and an upper bracket and a lower bracket are hinged in turn in the rotating groove; a second makeshift hole for the upper bracket and the lower bracket to pass through is provided at the bottom of the positioning column, and also includes a second transmission mechanism for simultaneously controlling the two groups of upper brackets and lower brackets to expand and contract outward at the same time, and a lifting drive mechanism for driving the lifting plate to move up and down on the positioning column.

[0007] As a further improvement, a first guide column is provided on the inner side of one end of the upper bracket hinged to the positioning column, and a second guide column is provided on the inner side of one end of the lower bracket hinged to the positioning column, and the positioning column is provided with a first slide groove and a second slide groove which respectively cooperate with the first guide column and the second guide column for horizontal rotation; the second transmission mechanism includes a cover plate arranged on the mounting hole, a driving rod corresponding to the connecting rod is provided at the bottom of the cover plate, an inner hole for the driving rod to slide up and down is provided in the connecting rod, and a first slide rail and a second slide rail which respectively cooperate with the first guide column and the second guide column are provided on the driving rod, the first slide rail includes a first slide section which drives the first guide column to rotate outward, and a second slide section which extends vertically upward, and the second slide rail includes a third slide section which drives the second guide column to rotate outward, and a fourth slide section which extends vertically upward.

[0008] As a further improvement, the lifting drive mechanism includes a motor fixed on the cover plate, the output shaft of the motor passes through the cover plate and is fixedly connected to a driving screw, and the lifting plate is provided with an internal thread connected to the external thread of the driving screw.

[0009] As a further improvement, it also includes a clamping mechanism to prevent the handle from sliding up and down, the clamping mechanism includes a clamping plate, the clamping plate is provided with a through hole for the gripping unit to pass through, the four corners on the top of the clamping plate are respectively fixed with guide rods, and there are guide rod fixing plates on the left and right sides of the clamping mechanism respectively connected to the two guide rods; the fixing plate is provided with a sliding sleeve that cooperates with the guide rod, the clamping plate is arranged below the fixing plate, and the guide rod fixing plate is arranged above the fixing plate.

[0010] As a further improvement, a conduit for the air supply pipe to pass through is provided on the inner side of the fixing plate, and a groove cooperating with the conduit is provided on the cover plate and the lifting plate.

[0011] As a further improvement, a stop block is provided at the bottom of the driving screw.

[0012] As a further improvement, a rubber block sleeved on the guide rod is provided at the bottom of the guide rod fixing plate.

[0013] As a further improvement, the three-axis moving mechanism includes a stand, which is fixed to one side of the top of the frame. An X-axis moving module is provided on the top of the stand, and a Y-axis moving module is slidably connected to the X-axis moving module, and a Z-axis moving module is slidably connected to the Y-axis moving module.

[0014] The beneficial effects of the present invention are: The positioning column of the present invention is combined with the first lifting mechanism. When grabbing, the positioning column is prompted to pass through the middle of the stacked carrying loops and directly inserted into the bottom carrying loop. The first transmission mechanism drives the expansion and contraction, thereby completing the grabbing and packing of the handle. In the grabbing process, the deformation of the side wall of the handle due to excessive force is effectively avoided, and the deviation of the handle during the grabbing and packing process is avoided, which significantly improves the packing efficiency and accuracy of the handle.

[0015] The first lifting mechanism of the present invention is combined with the second lifting mechanism. When grabbing, the handle on the first stacking platform is first grabbed by the second lifting mechanism, and then the handle on the second stacking platform is grabbed by the first lifting mechanism; when packing, the handle grabbed by the first lifting mechanism is first placed in the first packaging box, and then the handle grabbed by the second lifting mechanism is placed in the second packaging box, thereby realizing secondary grabbing of the handle, significantly improving the efficiency of packing the handles, and at the same time, it can also realize the simultaneous grabbing of two handles of different specifications and packing them separately, which can meet the grabbing and packing requirements of handles of different specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram of a handle packing and grabbing device for edible oil barrels provided by the present invention; Figure 2 It is a structural schematic diagram of the grabbing mechanism and the three-axis moving mechanism provided by the present invention; Figure 3 It is a structural schematic diagram of the grabbing mechanism provided by the present invention; Figure 4 It is a schematic diagram of the three-dimensional assembly structure of the fixing plate and the gripper unit provided by the present invention; Figure 5 It is a schematic diagram of the structure of the positioning column provided by the present invention; Figure 6 It is a schematic structural diagram of a partial cross-section of a positioning column provided by the present invention; Figure 7 is a structural schematic diagram of a first lifting mechanism provided by the present invention; Figure 8 is a structural schematic diagram of a second lifting mechanism provided by the present invention; Fig. 9 It is a partial structural diagram of the second lifting mechanism provided by the present invention; Fig.10 It is a schematic structural diagram of a partial cross-section of a positioning column, an upper bracket, and a lower bracket provided by the present invention; Fig.11 It is a schematic diagram of the partial structure of the positioning column and the driving rod at different angles provided by the present invention; Fig.12 It is a structural schematic diagram of the clamping mechanism provided by the present invention; Fig.13 It is a structural schematic diagram of the handle and stacking mechanism provided by the present invention; Fig.14 It is a schematic diagram of the working states of the first lifting mechanism and the second lifting mechanism provided by the present invention.

[0018] In the figure: frame 1, stacking mechanism 2, gripping mechanism 3, three-axis moving mechanism 4, fixing plate 5, gripper unit 6, positioning column 61, first lifting mechanism 62, connecting block 621, side plate 622, clamping block 623, support plate 624, first clearance hole 611, swing rod 625, driving cylinder 626, chain plate 627, air pipe 628, mounting hole 51, second lifting mechanism 63, lifting plate 631, connecting rod 632, rotating groove 633, upper bracket 634, lower bracket 635, second clearance hole 612, first guide column -636, second guide column -637, first slide groove -638, second slide groove -639, cover plate -71, drive rod -72, inner hole -6310, first slide section -721, second slide section -722, third slide section -723, fourth slide section -724, motor -81, drive screw -82, clamping mechanism -9, clamping plate -91, through hole -92, guide rod -93, sleeve -52, guide rod fixing plate -94, guide tube -64, stop block -821, rubber block -95, stand -41, X-axis moving module -42, Y-axis moving module -43, Z-axis moving module -44. DETAILED DESCRIPTION

[0019] In order to make the embodiments of the present invention, all belong to the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0020] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as referring to the purpose, technical solutions and advantages of the methods. To be more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work indicate or imply relative importance or implicitly indicate the number of indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0021] In order to improve the efficiency of handle production and the space utilization rate of packaging boxes, after the handles are injection molded, they are stacked by corresponding settings at the handle rings and staggered settings of the handles. The existing oil bottle handle packing grippers use four fingers to clamp the four inner corners of the handles at the same time to complete the grabbing action. This grabbing method is subject to force on the side wall of the handle during grabbing, which can easily cause the handle to deform. At the same time, this method is only applicable to the grabbing method in which the handles and the rings are completely aligned and stacked in sequence, and cannot adapt to the grabbing method in which the handles are staggered. When the gripper is directly used to grab the handles in the staggered stacking method, the handle rings will be offset, thereby affecting the positioning accuracy of the packing. In addition, after the existing grippers grab a handle on the stacking platform each time, they cannot grab it again, nor can they grab two handles of different specifications at the same time, which greatly limits the efficiency and flexibility of packing. In order to solve the above technical problems, this case proposes the following technical solutions: Reference Figures 1 to 14As shown, a grabbing device for packing a handle of an edible oil barrel comprises: a frame 1, a stacking mechanism 2 on which a handle is placed, a grabbing mechanism 3 for grabbing the handle from the stacking mechanism 2 to a packaging box, and a three-axis moving mechanism 4 installed at one end of the frame 1 for driving the grabbing mechanism 3 to move between the stacking mechanism 2 and the packaging box. The grabbing mechanism 3 comprises a fixing plate 5 connected to the three-axis moving mechanism 4, and a plurality of grabbing units 6 are evenly distributed in a matrix at the bottom of the fixing plate 5. The grabbing unit 6 comprises a positioning column 61 fixed below the fixing plate 5, and the positioning column 61 is vertically penetrated. The hollow cylindrical structure is connected to the positioning column 61, and a first lifting mechanism 62 is provided in the positioning column 61. The first lifting mechanism 62 includes a connecting block 621 fixed in the positioning column 61, and side plates 622 respectively fixed to the front and rear ends of the connecting block 621. The bottom sides between the two side plates 622 are respectively provided with a clamping block 623 rotatably connected by a rotating shaft, and a support plate 624 extends outward from the bottom of the clamping block 623. The bottom of the positioning column 61 is respectively provided with a first clearance hole 611 for the two clamping blocks 623 and the support plate 624 to pass through, and also includes a first transmission mechanism for controlling the simultaneous expansion and contraction of the two clamping blocks 623; It should be noted that a conveying device is provided on one side of the frame 1, and the packaging boxes are placed on the conveying device in sequence, and are used to place the oil bottle handles grasped by the grasping mechanism 3; When in use, the oil bottle handle is grabbed onto the stacking mechanism 2 by the suction cup after the injection molding is completed, and the handle is stacked by the corresponding arrangement of the handle ring and the staggered arrangement of the handle. Fig.13 After stacking is completed, the grabbing mechanism 3 is driven by the three-axis moving mechanism 4 to move to the top of the stacking mechanism 2, and the grabbing mechanism 3 is controlled to move down and accurately grab the handle. After grabbing is completed, the grabbing mechanism 3 moves up and moves to the top of the packaging box, and then moves down to put the handle into the packaging box; Specifically, the three-axis moving mechanism 4 drives the fixing plate 5 to move, so that the positioning column 61 is aligned with the collar of the stacking handle and moves down to the bottom of the stacking mechanism 2. At this time, the positioning column 61 passes through the middle of the stacked handle collar and is directly inserted into the bottom handle. Then, the first transmission mechanism drives the two blocks 623 to rotate outward through the first clearance hole 611, and at the same time, the top of the support plate 624 on the two blocks 623 is pressed against the bottom of the bottom layer of the handle. Then, the three-axis moving mechanism 4 drives the grabbing mechanism 3 to move upward and moves it to the top of the packaging box. Then, the grabbing mechanism 3 moves downward to put the handle into the packaging box. At this time, the first transmission mechanism drives the two clamping blocks 623 to retract inward, causing the clamping blocks 623 and the support plate 624 to retract into the inner cavity of the positioning column 61. Then, the three-axis moving mechanism 4 drives the fixing plate 5 to move upward, so that the positioning column 61 is pulled out from the middle of the handle ring, thereby completing the grabbing and packing of the handle. In the grabbing process, the deformation of the handle side wall caused by excessive force is effectively avoided, and the deviation of the handle during the grabbing and packing process is avoided, which significantly improves the packing efficiency and accuracy of the handle.

[0022] The first transmission mechanism includes a rocker bar 625 arranged at the top of the clamping block 623, a driving cylinder 626 is fixed on the top of the connecting block 621, a telescopic slot is arranged in the connecting block 621 for the telescopic rod of the driving cylinder 626 to slide up and down, two groups of chain plates 627 are arranged between the bottom of the telescopic rod of the driving cylinder 626 and the rocker bar 625, and the two ends of each group of chain plates 627 are respectively hinged to the bottom of the telescopic rod of the driving cylinder 626 and the top of the rocker bar 625 through a pin shaft, and the inlet and outlet nozzles of the driving cylinder 626 are respectively connected to air pipes 628, and the top of the fixing plate 5 is provided with mounting holes 51 corresponding to each positioning column 61, and the air pipes 628 extend upward along the inner cavity of the positioning column 61 and are connected to the air pump through the mounting holes 51; like Figure 7 As shown, during the grabbing process, after the positioning column 61 is inserted from the middle of the stacked handle rings and extends to the lowest handle, the air pump drives the telescopic rod of the driving cylinder 626 to move upward through the air pipe 628, and then drives the two swing rods 625 to swing toward the middle at the same time through the chain plate 627, so that the block 623 swings outward through the first clearance hole 611. At this time, the top of the support plate 624 on the block 623 is pressed against the bottom of the lowest layer of handles to form a stable support; thereby supporting the bottom of the handle, facilitating the upward grabbing of the stacked handles, ensuring the stability of the handles during the grabbing process, avoiding the deviation or loosening of the handles, and improving the grabbing accuracy and efficiency.

[0023] After the handle is placed on the packaging box, the air pump drives the telescopic rod of the driving cylinder 626 to move downward through the air pipe 628, and then drives the two rocker arms 625 to swing outward synchronously through the chain plate 627, causing the block 623 and the support plate 624 to retract into the inner cavity of the positioning column 61, thereby achieving the disengagement action from the handle, ensuring that the handle can be smoothly released from the grasping mechanism, avoiding jamming or loosening, and ensuring the precise positioning of the handle and the efficient and smooth disengagement process.

[0024] In order to facilitate grabbing the handles of two stacking platforms at one time, or handles of two different specifications, a second lifting mechanism 63 is further provided in the positioning column 61, and the second lifting mechanism 63 includes a lifting plate 631 located above the first lifting mechanism 62, and two connecting rods 632 extending vertically downward are provided at the bottom of the lifting plate 631, and the two connecting rods 632 are respectively provided at the front and rear ends of the first lifting mechanism 62, and each connecting rod 632 is provided with a rotating groove 633 at the bottom, and an upper bracket 634 and a lower bracket 635 are hinged in turn in the rotating groove 633, and a second clearance hole 612 for the upper bracket 634 and the lower bracket 635 to pass through is provided at the bottom of the positioning column 61, and also includes a second transmission mechanism for simultaneously controlling the two groups of upper brackets 634 and lower brackets 635 to expand and contract outward at the same time, and a lifting drive mechanism for driving the lifting plate 631 to move up and down on the positioning column 61; The tops of the upper bracket 634 and the lower bracket 635 are in the same horizontal plane, and the ends of the upper bracket 634 and the lower bracket 635 away from the rotating groove 633 are respectively provided with limiting steps that match the bottom of the handle, so when the upper bracket 634 and the lower bracket 635 are opened outward, the limiting steps are close to the bottom of the handle to form a stable supporting effect; At the same time, the second clearance hole 612 is composed of a rectangular section at the bottom of the positioning column 61 and a guide section extending upward, and the upper bracket 634 and the lower bracket 635 can complete the outward expansion and inward contraction actions in the rectangular section. When the upper bracket 634 and the lower bracket 635 are in the open state, they can move up and down along the guide section; Therefore, when in use, the second lifting mechanism 63 first grabs the handle on the first stacking platform / the handle of the first specification, and then the first lifting mechanism 62 grabs the handle on the second stacking platform / the handle of the second specification; when packing, the handle grabbed by the first lifting mechanism 62 is first placed in the first packaging box, and then the handle grabbed by the second lifting mechanism 63 is placed in the second packaging box, thereby improving the efficiency and flexibility of packing with handles; Specifically, the grabbing mechanism 3 is driven to move to the first stacking platform by the three-axis moving mechanism 4, and the positioning column 61 is aligned with the lifting handle ring of the first stacking platform, and then the grabbing mechanism 3 moves downward. When the positioning column 61 is inserted into the middle of the lifting handle ring stacked from the first stacking platform and extends to the lowest handle position, at this time, the upper bracket 634 and the lower bracket 635 of the two connecting rods 632 are both below the handle, and then the lifting plate 631 is driven to rise by the lifting driving mechanism, and at the same time, the second transmission mechanism drives the upper bracket 634 and the lower bracket 635 to rotate outward around the rotating groove 633, so that the upper bracket 634 and the lower bracket 635 pass through the second clearance hole 612 and expand outward, and the top of the upper bracket 634 and the lower bracket 635 are close to the bottom of the handle, and the lifting plate The upward movement of 631 drives the connecting rod 632 to move upward synchronously, and the upper bracket 634 and the lower bracket 635 remain in an open state, prompting the handle on the first stacking platform to be grabbed and lifted to the upper half of the positioning column 61; then, the three-axis moving mechanism 4 drives the grabbing mechanism 3 to move upward and move to the second stacking platform, so that the positioning column 61 is aligned with the handle ring of the second stacking platform, and then the grabbing mechanism 3 moves downward, and the grabbing of the handle on the second stacking platform is completed through the first lifting mechanism 62. At this time, the handle of the second stacking platform is in the lower half of the positioning column 61; thereby, secondary grabbing of the handle is achieved, which significantly improves the efficiency of handle packing. At the same time, it can also achieve the simultaneous grabbing of two handles of different specifications and packing them separately, which can meet the grabbing and packing requirements of handles of different specifications.

[0025] The first guide post 636 is provided inside the end of the upper bracket 634 hinged to the positioning post 61, and the second guide post 637 is provided inside the end of the lower bracket 635 hinged to the positioning post 61. The positioning post 61 is provided with a first slide groove 638 and a second slide groove 639 which are respectively matched with the first guide post 636 and the second guide post 637 for horizontal rotation; the second transmission mechanism includes a cover plate 71 provided on the mounting hole 51, and a driving rod 72 corresponding to the connecting rod 632 is provided at the bottom of the cover plate 71. The connecting rod 632 is provided with an inner hole 6310 for the driving rod 72 to slide up and down. The driving rod 72 is provided with a first slide rail and a second slide rail respectively cooperating with the first guide column 636 and the second guide column 637. The first slide rail includes a first slide section 721 for driving the first guide column 636 to rotate outward, and a second slide section 722 extending vertically upward. The second slide rail includes a third slide section 723 for driving the second guide column 637 to rotate outward, and a fourth slide section 724 extending vertically upward. Therefore, when using Fig. 9As shown, the lifting drive mechanism drives the lifting plate 631 to rise, and drives the connecting rod 632 to move upward synchronously along the driving rod 72. At this time, the first guide column 636 slides along the first sliding section 721, prompting the first guide column 636 to slide horizontally in the first sliding groove 638, thereby driving the upper bracket 634 to rotate outward around the rotating groove 633. At the same time, the second guide column 637 slides along the third sliding section 723, prompting the second guide column 637 to slide horizontally in the second sliding groove 639, thereby driving the lower bracket 635 to rotate outward around the rotating groove 633. As the lifting plate 631 continues to move upward, the first guide column 636 and the second guide column 637 continue to move upward along the second slide section 722 and the fourth slide section 724 respectively, so as to ensure that during the rising process, the upper bracket 634 and the lower bracket 635 always remain in an outwardly opened state, and ensure that during the lifting process, the upper bracket 634 and the lower bracket 635 continue to maintain stable support with the handle, and realize the first specification of the handle on the first stacking platform is grasped to the upper half of the positioning column 61; When packing the first specification of handles on the first stacking platform, first put the grabbing mechanism 3 into the second packaging box, and then the lifting drive mechanism drives the lifting plate 631 to move downward. At this time, the handle drops to the lower end of the positioning column 61, and at the same time, the first guide column 636 and the second guide column 637 slide downward along the first slide section 721 and the third slide section 723 respectively, so that the upper bracket 634 and the lower bracket 635 shrink inward around the rotating groove 633, thereby completing the unlocking operation of the handle by the second lifting mechanism 63, realizing the separation of the handle and the second lifting mechanism 63, and ensuring that the handle is moved into the packaging box.

[0026] The lifting drive mechanism includes a motor 81 fixed on the cover plate 71, the output shaft of the motor 81 passes through the cover plate 71 and is fixedly connected to a driving screw 82, and the lifting plate 631 is provided with an internal thread connected to the external thread of the driving screw 82; therefore, when in use, the driving screw 82 is driven by the motor 81 to rotate in forward and reverse directions, thereby driving the lifting plate 631 to move up and down along the driving rod 72, thereby realizing the lifting of the handle to the upper half of the positioning column 61 and the packing action.

[0027] In order to prevent the handle from shaking or sliding up and down during transportation after the grabbing is completed, a clamping mechanism 9 is also included to prevent the handle from sliding up and down. The clamping mechanism 9 includes a clamping plate 91, and a through hole 92 is provided on the clamping plate 91 for the gripper unit 6 to pass through. The four corners of the top of the clamping plate 91 are respectively fixed with guide rods 93, and a guide rod fixing plate 94 is provided on the left and right sides of the clamping mechanism 9 and is connected to the two guide rods 93 respectively; the fixing plate 5 is provided with a sliding sleeve 52 that cooperates with the guide rod 93, the clamping plate 91 is arranged below the fixing plate 5, and the guide rod fixing plate 94 is arranged above the fixing plate 5. Therefore, during the grabbing process, after the positioning column 61 is inserted into the ring of the handle, the clamping plate 91 is in contact with the upper surface of the topmost handle. At the same time, as the positioning column 61 continues to be inserted downward, the clamping plate 91 drives the guide rod 93 to rise along the sliding sleeve 52, and the clamping plate 91 provides a downward clamping force to prevent the handle from shaking during transportation and ensure the stability of the stacked handles.

[0028] The inner side of the fixing plate 5 is provided with a conduit 64 through which the air supply pipe 628 passes, so that the air pipe 628 is fixed in the conduit 64 to prevent the air pipe 628 from obstructing the up and down movement of the lifting plate 631; at the same time, the cover plate 71 and the lifting plate 631 are provided with grooves that cooperate with the conduit 64 to facilitate the installation of the conduit 64 and the air pipe 628.

[0029] A stop block 821 is provided at the bottom of the driving screw rod 82 to prevent the lifting plate 631 from moving downward excessively and causing the bottom of the connecting rod 632 to collide with the stacking platform.

[0030] A rubber block 95 sleeved on the guide rod 93 is provided at the bottom of the guide rod fixing plate 94. Therefore, when the second lifting mechanism 63 puts the handle into the packaging box, the clamping plate 91 moves downward under the action of gravity, and at the same time drives the guide rod 93 and the guide rod fixing plate 94 to move downward synchronously. When the guide rod fixing plate 94 approaches the sliding sleeve 52, the rubber block 95 can form an effective buffer layer between the guide rod fixing plate and the sliding sleeve to avoid collision between the guide rod fixing plate 94 and the sliding sleeve 52, thereby reducing damage and noise caused by direct contact.

[0031] The three-axis moving mechanism 4 includes a stand 41, which is fixed to one side of the top of the frame 1. An X-axis moving module 42 is provided on the top of the stand 41. A Y-axis moving module 43 is slidably connected to the X-axis moving module 42, and a Z-axis moving module 44 is slidably connected to the Y-axis moving module 43. The fixed plate 5 is fixedly connected to the bottom of the Z-axis moving module 44, and then the grasping mechanism 3 is driven to move horizontally through the X-axis moving module 42, the grasping mechanism 3 is driven to move vertically through the Y-axis moving module 43, and the grasping mechanism 3 is driven to move vertically through the Z-axis moving module 44, and cooperates with the grasping mechanism 3 to realize the grasping and packing actions of the handle.

[0032] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A handle packing and grabbing device for edible oil barrels, the structure of which includes: The box is a container which is provided with a plurality of handles which are arranged on the container, and the plurality of handles are connected to the container by the plurality of handles.

2. The edible oil barrel handle box grabbing device according to claim 1, characterized in that: The first transmission mechanism includes a rocker arm arranged on the top of the card block, a driving cylinder is fixed on the top of the connecting block, a telescopic groove is arranged in the connecting block for the telescopic rod of the driving cylinder to slide up and down, two groups of chain plates are arranged between the bottom of the telescopic rod of the driving cylinder and the rocker arm, and the two ends of each group of chain plates are respectively hinged to the bottom of the telescopic rod of the driving cylinder and the top of the rocker arm through pins, the air inlet and outlet nozzles of the driving cylinder are respectively connected to air pipes, and the top of the fixed plate is provided with mounting holes corresponding to each positioning column, and the air pipes extend upward along the inner cavity of the positioning column and are connected to the air pump through the mounting holes.

3. A edible oil barrel handle box grabbing device according to any one of claims 1 or 2, characterized in that: A second lifting mechanism is also provided in the positioning column, and the second lifting mechanism includes a lifting plate located above the first lifting mechanism, and two connecting rods extending vertically downward are provided at the bottom of the lifting plate, and the two connecting rods are respectively provided at the front and rear ends of the first lifting mechanism, and a rotating groove is provided at the bottom of each connecting rod, and an upper bracket and a lower bracket are hinged in turn in the rotating groove. A second clearance hole for the upper bracket and the lower bracket to pass through is provided at the bottom of the positioning column, and also includes a second transmission mechanism for simultaneously controlling the two groups of upper brackets and lower brackets to expand and contract outward at the same time, and a lifting drive mechanism for driving the lifting plate to move up and down on the positioning column.

4. The edible oil barrel handle box grabbing device according to claim 3, characterized in that: The first and second guide rails are respectively provided on the driving mechanism, the first slide rail being arranged on the driving mechanism and the second slide rail being arranged on the driving mechanism.

5. The edible oil barrel handle box grabbing device according to claim 3, characterized in that: The lifting drive mechanism comprises a motor fixed on the cover plate, the output shaft of the motor passes through the cover plate and is fixedly connected with a driving screw, and the lifting plate is provided with an internal thread connected with an external thread of the driving screw.

6. The edible oil barrel handle box grabbing device according to claim 4, characterized in that: It also includes a clamping mechanism for preventing the handle from sliding up and down, the clamping mechanism includes a clamping plate, the clamping plate is provided with a through hole for the gripping unit to pass through, the four corners on the top of the clamping plate are respectively fixed with guide rods, and a guide rod fixing plate is provided on the left and right sides of the clamping mechanism and is respectively connected to the two guide rods; the fixing plate is provided with a sliding sleeve that cooperates with the guide rod, the clamping plate is provided below the fixing plate, and the guide rod fixing plate is provided above the fixing plate.

7. The edible oil barrel handle box grabbing device according to claim 4, characterized in that: The inner side of the fixing plate is provided with a conduit through which the air supply pipe passes, and the cover plate and the lifting plate are provided with a groove that matches the conduit.

8. The edible oil barrel handle box grabbing device according to claim 5, characterized in that: A stopping block is provided at the bottom of the driving screw rod.

9. The edible oil barrel handle box grabbing device according to claim 6, characterized in that: A rubber block sleeved on the guide rod is provided at the bottom of the guide rod fixing plate.

10. The edible oil barrel handle box grabbing device according to claim 1, characterized in that: The three-axis moving mechanism includes a stand, which is fixed to one side of the top of the frame. An X-axis moving module is arranged on the top of the stand, a Y-axis moving module is slidably connected to the X-axis moving module, and a Z-axis moving module is slidably connected to the Y-axis moving module.

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