An oil barrel handle packing and grasping device

Abstract

The present invention relates to the technical field of grasping mechanisms, and particularly to a grasping device for packing the handles of edible oil barrels into boxes. The structure thereof includes: a frame, a stacking mechanism arranged on the frame for placing the handles, a grasping mechanism for grasping the handles from the stacking mechanism into the packing box, and further includes a three-axis moving mechanism installed at one end of the frame for driving the grasping mechanism to move between the stacking mechanism and the packing box. The grasping mechanism includes a fixing plate connected to the three-axis moving mechanism. The positioning column of the present invention is combined with the first lifting mechanism. During grasping, the positioning column is urged to pass through the middle of the stacked handle loops and directly insert into the lowermost handle loop. It is driven by the first transmission mechanism to expand and contract, thereby completing the grasping and packing actions of the handles. Furthermore, during the grasping process, the situation that the side wall of the handle is deformed due to excessive force is effectively avoided, and the handles are prevented from shifting during the grasping and packing processes, significantly improving the packing efficiency and accuracy of the handles.

Description

Technical Field

[0001] The present invention relates to the technical field of grasping mechanisms, and particularly to a grasping device for packing the handles of edible oil barrels into boxes. Background Art

[0002] A packing machine is a device that packs unpacked products or small-packaged products into boxes in a certain arrangement and quantity. With the increasingly wide use of bottled products, the automatic packing machine, as a process device in industrial production, is playing an increasingly important role; after the injection molding process of the oil bottle handle is completed, the industrial robotic arm will first automatically stack the molded parts onto the material sorting platform. When the handles are arranged in a specific orientation on the sorting platform, an automatic grasping device is required to accurately transfer them into the packaging container.

[0003] For example, in the patent document with the patent number: CN217805521U, an oil bottle handle packing gripper is disclosed, which includes a gripper main body frame, a gripper sliding mechanism, and multiple grippers. The gripper sliding mechanism is arranged on the gripper main body frame, and multiple grippers are respectively arranged on the gripper sliding mechanism and the gripper main body frame; the gripper sliding mechanism includes a slide rail, a slider, a sliding frame, and a cylinder. The cylinder and the slide rail are arranged on the gripper main body frame, the slider is arranged on the slide rail, and the piston rod of the cylinder is connected to the slider through the sliding frame.

[0004] However, it still has the following deficiencies in the actual application process: In order to improve the production efficiency of the handles and the space utilization rate of the packing boxes, after the injection molding of the handles, they are stacked in a way that the handle loops are correspondingly arranged and staggered with the grips. The existing oil bottle handle packing grippers use the method of simultaneously clamping the four inner corners of the handle by four fingers to complete the grasping action. This grasping method causes the side wall of the grip to be stressed during grasping, which easily leads to deformation of the handle; at the same time, this method is only applicable to grasping in the way that the grips and loops of the handles are completely aligned and stacked in sequence, and cannot adapt to grasping in the way of staggered arrangement of the grips. When directly using this gripper to grasp the handles stacked in a staggered arrangement of the grips, it will cause the offset of the handle loops, thus affecting the packing positioning accuracy; in addition, after the existing gripper grasps the handles on one stacking platform each time, it cannot perform secondary grasping, nor can it simultaneously grasp two different specifications of handles, which greatly limits the packing efficiency and flexibility. Summary of the Invention

[0005] The present invention provides a grasping device for packing the handles of edible oil barrels into boxes, which can effectively solve the above problems.

[0006] The present invention is realized as follows:

[0007] 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.

[0008] 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.

[0009] 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.

[0010] As a further improvement, a first guide post is provided on the inner side of the end of the upper bracket hinged to the positioning post, and a second guide post is provided on the inner side of the end of the lower bracket hinged to the positioning post. The positioning post is provided with a first chute and a second chute that horizontally rotate and cooperate with the first guide post and the second guide post respectively. The second transmission mechanism includes a cover plate provided in 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. The driving rod is provided with a first slide rail and a second slide rail that cooperate with the first guide post and the second guide post respectively. The first slide rail includes a first sliding section for driving the first guide post to rotate outwards and a second sliding section extending vertically upwards. The second slide rail includes a third sliding section for driving the second guide post to rotate outwards and a fourth sliding section extending vertically upwards.

[0011] As a further improvement, the lifting drive mechanism includes a motor fixed to the cover plate. The output shaft of the motor passes through the cover plate and is fixedly connected with a driving screw rod. The lifting plate is provided with an internal thread that is externally threaded with the driving screw rod.

[0012] As a further improvement, it further includes a pressing mechanism for preventing the handle from sliding up and down. The pressing mechanism includes a pressing plate. The pressing plate is provided with a through hole for the gripper unit to pass through. Four corners of the top of the pressing plate are respectively fixed with guide rods, and guide rod fixing plates are provided on the left and right sides of the pressing mechanism and are respectively connected with the two guide rods. The fixing plate is provided with sliding sleeves that cooperate with the guide rods. The pressing plate is arranged below the fixing plate, and the guide rod fixing plate is arranged above the fixing plate.

[0013] As a further improvement, a conduit for the air pipe to pass through is provided inside the fixing plate, and grooves that cooperate with the conduit are provided on the cover plate and the lifting plate.

[0014] As a further improvement, a locking block is provided at the bottom of the driving screw rod.

[0015] As a further improvement, a rubber block sleeved on the guide rod is provided at the bottom of the guide rod fixing plate.

[0016] As a further improvement, the three-axis moving mechanism includes a vertical frame. The vertical frame is fixed to one side of the top of the machine frame. An X-axis moving module is provided at the top of the vertical frame. A Y-axis moving module is slidably connected to the X-axis moving module. A Z-axis moving module is slidably connected to the Y-axis moving module.

[0017] The beneficial effects of the present invention are:

[0018] The positioning post of the present invention is combined with the first lifting mechanism. During grasping, the positioning post is urged to pass through the middle of the stacked handle loops and directly insert into the lowermost handle loop. It is driven by the first transmission mechanism to expand and contract, thereby completing the grasping and boxing operations of the handle. Furthermore, during the grasping process, the situation where the side wall of the grip is deformed due to excessive force is effectively avoided, and the handle is prevented from shifting during the grasping and boxing processes, significantly improving the efficiency and accuracy of handle boxing.

[0019] The first lifting mechanism of the present invention is combined with the second lifting mechanism. During grasping, first, the second lifting mechanism grasps the handle on the first stacking platform, and then the first lifting mechanism grasps the handle on the second stacking platform. During boxing, first, the handle grasped by the first lifting mechanism is placed in the first packing box, and then the handle grasped by the second lifting mechanism is placed in the second packing box, thereby achieving secondary grasping of the handle, significantly improving the handle boxing efficiency. At the same time, it can also grasp two different specifications of handles simultaneously and box them separately, capable of adapting to the grasping and boxing requirements of different specifications of handles. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0021] Figure 1 is a schematic structural diagram of an oil barrel handle boxing and grasping device provided by the present invention;

[0022] Figure 2 is a schematic structural diagram of the grasping mechanism and the three-axis moving mechanism provided by the present invention;

[0023] Figure 3 is a schematic structural diagram of the grasping mechanism provided by the present invention;

[0024] Figure 4 is a three-dimensional assembly structural diagram of the fixing plate and the gripper unit provided by the present invention;

[0025] Figure 5 is a schematic sectional view of the positioning post provided by the present invention;

[0026] Figure 6 is a schematic partial sectional view of the positioning post provided by the present invention;

[0027] Figure 7 is a schematic structural diagram of the first lifting mechanism provided by the present invention;

[0028] Figure 8 is a schematic structural view of the second lifting mechanism provided by the present invention;

[0029] Figure 9 is a schematic structural view of a part of the second lifting mechanism provided by the present invention;

[0030] Figure 10 is a schematic structural view of a partial cross-section of the positioning post, upper bracket, and lower bracket provided by the present invention;

[0031] Figure 11 is a schematic partial structural view of the positioning post and the driving rod at different angles provided by the present invention;

[0032] Figure 12 is a schematic structural view of the pressing mechanism provided by the present invention;

[0033] Figure 13 is a schematic structural view of the handle and stacking mechanism provided by the present invention;

[0034] Figure 14 is a schematic view of the working state of the first lifting mechanism and the second lifting mechanism provided by the present invention.

[0035] In the figure: frame - 1, stacking mechanism - 2, grasping mechanism - 3, three - axis moving mechanism - 4, fixing plate - 5, gripper unit - 6, positioning post - 61, first lifting mechanism - 62, connecting block - 621, side plate - 622, clamping block - 623, support plate - 624, first relief 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 relief hole - 612, first guide post - 636, second guide post - 637, first chute - 638, second chute - 639, cover plate - 71, driving rod - 72, inner hole - 6310, first sliding section - 721, second sliding section - 722, third sliding section - 723, fourth sliding section - 724, motor - 81, driving screw - 82, pressing mechanism - 9, pressing plate - 91, through - hole - 92, guide rod - 93, sliding sleeve - 52, guide rod fixing plate - 94, conduit - 64, locking block - 821, rubber block - 95, vertical frame - 41, X - axis moving module - 42, Y - axis moving module - 43, Z - axis moving module - 44. Detailed implementation manners

[0036] To make the embodiments of the present invention, all fall within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0037] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0038] In order to improve the production efficiency of the handle and the space utilization rate of the packing box, after the handle is injection-molded, it is stacked in a way that the handle loops are correspondingly arranged and staggered with the grips. The existing gripper for packing the handle of the oil bottle uses the method of simultaneously clamping the four inner corners of the handle with four fingers to complete the grasping action. This grasping method causes the side wall of the grip to be stressed during grasping, which easily leads to deformation of the handle. At the same time, this method is only applicable to grasping in the way that the grips and loops of the handle are completely aligned and stacked in sequence, and cannot adapt to the grasping of the staggered arrangement of the grips. When directly using this gripper to grasp the handle with the staggered arrangement of the grips, it will cause the offset of the handle loop, thus affecting the packing positioning accuracy. In addition, after the existing gripper grasps the handle on one stacking platform each time, it cannot perform secondary grasping, nor can it grasp two different specifications of handles at the same time, which greatly limits the packing efficiency and flexibility. To solve the above technical problems, the following technical solutions are proposed in this case:

[0039] Refer to 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;

[0040] 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;

[0041] 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. Figure 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;

[0042] 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.

[0043] 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;

[0044] 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.

[0045] 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.

[0046] 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;

[0047] 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;

[0048] 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;

[0049] 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;

[0050] Specifically, the three-axis moving mechanism 4 drives the grasping mechanism 3 to move to the first stacking platform. At the same time, after the positioning column 61 is aligned with the lifting glove loop of the first stacking platform, the grasping mechanism 3 moves downward. When the positioning column 61 is inserted into the middle of the lifting glove loops stacked on the first stacking platform and extends to the bottommost lifting position, at this time, the upper brackets 634 and the lower brackets 635 of the two connecting rods 632 are both below the lifting handle. Then, the lifting drive mechanism drives the lifting plate 631 to rise, 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 relief hole 612 and expand outward, and the tops of the upper bracket 634 and the lower bracket 635 are close to the bottom of the lifting handle. By the upward movement of the lifting plate 631, the connecting rod 632 is driven to move upward synchronously, and the upper bracket 634 and the lower bracket 635 remain in the open state, prompting the lifting handle on the first stacking platform to be grasped and lifted to the upper half of the positioning column 61; Subsequently, the three-axis moving mechanism 4 drives the grasping mechanism 3 to move upward and move to the second stacking platform. After the positioning column 61 is aligned with the lifting glove loop of the second stacking platform, the grasping mechanism 3 moves downward, and the first lifting mechanism 62 is used to complete the grasping of the lifting handle on the second stacking platform. At this time, the lifting handle of the second stacking platform is located at the lower half of the positioning column 61; thus, the secondary grasping of the lifting handle is realized, significantly improving the packing efficiency of the lifting handle. At the same time, it is also possible to grasp two different specifications of lifting handles simultaneously and pack them separately, which can meet the grasping and packing requirements of different specifications of lifting handles.

[0051] An inner side of one end of the upper bracket 634 hinged to the positioning column 61 is provided with a first guide post 636, an inner side of one end of the lower bracket 635 hinged to the positioning column 61 is provided with a second guide post 637, and the positioning column 61 is provided with a first sliding groove 638 and a second sliding groove 639 that are horizontally rotationally matched with the first guide post 636 and the second guide post 637 respectively; The second transmission mechanism includes a cover plate 71 provided in the mounting hole 51. A driving rod 72 corresponding to the connecting rod 632 is provided at the bottom of the cover plate 71. An inner hole 6310 for the driving rod 72 to slide up and down is provided in the connecting rod 632. First sliding rails and second sliding rails respectively cooperating with the first guide post 636 and the second guide post 637 are provided on the driving rod 72. The first sliding rail includes a first sliding section 721 for driving the first guide post 636 to rotate outward and a second sliding section 722 extending vertically upward. The second sliding rail includes a third sliding section 723 for driving the second guide post 637 to rotate outward and a fourth sliding section 724 extending vertically upward;

[0052] Therefore, when in use, as Figure 9As shown, the lifting drive mechanism drives the lifting plate 631 to rise, driving the connecting rod 632 to move upward synchronously along the drive rod 72. At this time, the first guide post 636 slides along the first sliding section 721, prompting the first guide post 636 to slide horizontally within the first chute 638, thereby driving the upper bracket 634 to rotate outward around the rotation slot 633. At the same time, the second guide post 637 slides along the third sliding section 723, prompting the second guide post 637 to slide horizontally within the second chute 639, thereby driving the lower bracket 635 to rotate outward around the rotation slot 633;

[0053] As the lifting plate 631 continues to move upward, the first guide post 636 and the second guide post 637 respectively continue to move upward along the second sliding section 722 and the fourth sliding section 724, thereby ensuring that during the rising process, the upper bracket 634 and the lower bracket 635 always maintain an outward-opening state, ensuring that during the lifting process, the upper bracket 634 and the lower bracket 635 continuously maintain stable support with the handle, and realizing the grasping of the first-type handle on the first stacking platform to the upper half of the positioning post 61;

[0054] When packing the first-type handle on the first stacking platform into a box, first place the grasping mechanism 3 into the second packing box, and then the lifting drive mechanism drives the lifting plate 631 to move downward. At this time, the handle descends to the lower end of the positioning post 61, and at the same time, the first guide post 636 and the second guide post 637 respectively slide downward along the first sliding section 721 and the third sliding section 723, causing the upper bracket 634 and the lower bracket 635 to contract inward around the rotation slot 633, thereby completing the unlocking operation of the handle by the second lifting mechanism 63 and realizing the separation of the handle from the second lifting mechanism 63, ensuring that the handle is moved into the packing box.

[0055] The lifting drive mechanism includes a motor 81 fixed to the cover plate 71. The output shaft of the motor 81 passes through the cover plate 71 and is fixedly connected with a drive screw 82. The lifting plate 631 is provided with an internal thread that is externally threaded with the drive screw 82. Therefore, during use, the motor 81 drives the drive screw 82 to rotate in the positive and negative directions, thereby driving the lifting plate 631 to move up and down along the drive rod 72, thereby realizing the lifting of the handle to the upper half of the positioning post 61 and the packing operation.

[0056] To prevent the handle from shaking or sliding up and down during the transfer process after the grasping is completed, a pressing mechanism 9 for preventing the handle from sliding up and down is further included. The pressing mechanism 9 includes a pressing plate 91. A through hole 92 for the gripper unit 6 to pass through is provided on the pressing plate 91. Guide rods 93 are respectively fixed at the four corners of the top of the pressing plate 91, and guide rod fixing plates 94 which are respectively connected to the two guide rods 93 are arranged on the left and right sides of the pressing mechanism 9; a sliding sleeve 52 which cooperates with the guide rod 93 is provided on the fixing plate 5. The pressing 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 grasping process, after the positioning post 61 is inserted into the collar of the handle, the pressing plate 91 fits with the upper surface of the topmost handle. At the same time, as the positioning post 61 continues to be inserted downward, the pressing plate 91 drives the guide rod 93 to rise along the sliding sleeve 52, and the pressing plate 91 provides a downward pressing force to prevent the handle from shaking during the transfer process and ensure the stability of the stacked handles.

[0057] A conduit 64 through which the air pipe 628 passes is provided inside the fixing plate 5, so that the air pipe 628 is fixed inside the conduit 64 to prevent the air pipe 628 from hindering the up and down movement of the lifting plate 631; at the same time, grooves which cooperate with the conduit 64 are provided on the cover plate 71 and the lifting plate 631 to facilitate the installation of the conduit 64 and the air pipe 628.

[0058] A locking block 821 is provided at the bottom of the driving screw 82 to prevent the bottom of the connecting rod 632 from colliding with the stacking platform due to the excessive downward movement of the lifting plate 631.

[0059] 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 loads the handle into the packing box, the pressing 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 the collision between the guide rod fixing plate 94 and the sliding sleeve 52, thereby reducing the damage and noise caused by direct contact.

[0060] The three-axis moving mechanism 4 includes a vertical frame 41. The vertical frame 41 is fixed to one side of the top of the frame 1. An X-axis moving module 42 is provided at the top of the vertical frame 41. A Y-axis moving module 43 is slidably connected to the X-axis moving module 42. A Z-axis moving module 44 is slidably connected to the Y-axis moving module 43. The fixing plate 5 is fixedly connected to the bottom of the Z-axis moving module 44. Furthermore, the grasping mechanism 3 is driven to move horizontally by the X-axis moving module 42, driven to move vertically by the Y-axis moving module 43, driven to move vertically by the Z-axis moving module 44, and cooperates with the grasping mechanism 3 to realize the grasping and packing actions of the handle.

[0061] Where the present invention is not described in detail, it is common knowledge to those skilled in the art.

[0062] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An oil barrel handle packing and gripping device, its structure includes: The lifting mechanism comprises a lifting mechanism that is provided with a lifting mechanism that is provided with a lifting mechanism that is provided with a lifting mechanism that is used to lift the lifting mechanism from the lifting mechanism to the lifting mechanism in the packaging box, and a three-axis moving mechanism installed at one end of the frame for driving the lifting mechanism to move between the stacking mechanism and the packaging box, characterized in that: the lifting mechanism comprises a fixed plate connected to the three-axis moving mechanism, and a plurality of gripper units are evenly distributed in a matrix at the bottom of the fixed plate, and the gripper unit comprises a positioning column fixed under the fixed plate, and the positioning column is a hollow cylindrical structure that passes through the upper and lower parts, and a first lifting mechanism is arranged in the positioning column, and the first lifting mechanism comprises a connecting block fixed in the positioning column, and side plates are respectively fixed to the front and rear ends of the connecting block, and card blocks connected by a rotating shaft are respectively arranged on both sides of the bottom between the two side plates, and the bottom of the card block is provided with a support plate extending outward, and the bottom of the positioning column is provided with a first clearance hole for two card blocks and the support plate to pass through, and also comprises a first transmission mechanism for controlling the simultaneous expansion and contraction of the two card blocks; The first transmission mechanism comprises a swing rod arranged at the top of the clamping block, a driving cylinder is fixed on the top of the connecting block, a telescopic slot 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 swing rod, 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 swing rod through a pin shaft, the inlet and outlet nozzles of the driving cylinder are respectively connected to air pipes, and the top of the fixing plate is provided with a mounting hole corresponding to each positioning column, and the air pipe extends upward along the inner cavity of the positioning column and is connected to the air pump through the mounting hole; 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.

2. The grab device for packing the handle of an edible oil barrel according to claim 1, 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.

3. The grab device for packing the handle of an edible oil barrel according to claim 1, wherein: The lifting drive mechanism includes a motor fixed to the cover plate. The output shaft of the motor passes through the cover plate and is fixedly connected to a driving screw rod. An internal thread is provided on the lifting plate and is threadedly connected to the external thread of the driving screw rod.

4. The grab device for packing the handle of an edible oil barrel according to claim 2, characterized in that: It further includes a pressing mechanism for preventing the handle from sliding up and down. The pressing mechanism includes a pressing plate. A through hole for the gripper unit to pass through is provided on the pressing plate. Guide rods are respectively fixed at the four corners of the top of the pressing plate, and guide rod fixing plates are respectively arranged on the left and right sides of the pressing mechanism and connected to the two guide rods. A sliding sleeve for cooperating with the guide rod is provided on the fixing plate. The pressing plate is arranged below the fixing plate, and the guide rod fixing plate is arranged above the fixing plate.

5. The grab device for packing the handle of an edible oil barrel according to claim 2, characterized in that: A conduit for the air pipe to pass through is provided inside the fixing plate. Grooves for cooperating with the conduit are provided on the cover plate and the lifting plate.

6. The grab device for packing and grasping the handle of an edible oil barrel according to claim 3, characterized in that: A locking block is provided at the bottom of the driving screw rod.

7. The grab device for packing and grasping the handle of an edible oil barrel according to claim 4, characterized in that: A rubber block sleeved on the guide rod is provided at the bottom of the guide rod fixing plate.

8. The grab device for packing the handle of an edible oil barrel according to claim 1, characterized in that: The three-axis moving mechanism includes a vertical frame. The vertical frame is fixed to one side of the top of the machine frame. An X-axis moving module is provided at the top of the vertical frame. A Y-axis moving module is slidably connected to the X-axis moving module. A Z-axis moving module is slidably connected to the Y-axis moving module.

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