Full-automatic servo marshalling gripper
By using the X-axis drive and Y-axis retraction adjustment mechanism of the fully automatic servo grouping gripper, the problems of adaptability and efficiency bottlenecks of traditional grippers have been solved, enabling box-type adaptation and efficient grouping without stopping the machine, thus improving production continuity and flexibility.
Patent Information
- Application Number
- CN202511854435.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-10
- Publication Date
- 2026-01-23
AI Technical Summary
The existing grouping grippers cannot adapt to different sizes and quantities of boxes independently, requiring manual replacement of the clamps, resulting in long downtime, poor production continuity, and an inability to meet the flexible multi-variety requirements of modern production lines.
A fully automatic servo-driven grouping gripper was designed, which combines an X-axis drive mechanism and a Y-axis retraction adjustment mechanism. Through servo-driven gear rack and transmission support components, it achieves bidirectional automatic adjustment of the spacing between the retractable side wall grippers and the spacing between the support plates, and can autonomously adapt to different box types.
It enables the assembly of boxes of different sizes and quantities without the need for manual fixture replacement, significantly reducing downtime for changeover, improving production continuity and production line flexibility, and increasing assembly efficiency.
Smart Images
Figure CN121374693A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of automatic mechanical processing, in particular to a full-automatic servo grouping gripper. BACKGROUND
[0002] In the industrial production scenes such as logistics storage, packaging and sorting, the grouping gripper is the core executive component of box carrying and sorting, and the operation flexibility and efficiency of the grouping gripper directly determine the overall productivity of the production line. The grouping grippers on the market at present mostly adopt fixed-specification clamp design, which exposes many adaptability and efficiency bottlenecks in actual application: when the production line needs to replace different sizes of box varieties, the existing gripper cannot adapt to the box size independently, and must rely on manual disassembly of the original clamp and replacement of the new clamp of the corresponding specification. This process not only requires the operation of a dedicated person, but also needs to forcibly interrupt the operation of the production line, resulting in a long downtime of several hours, which not only increases the labor cost, but also seriously damages the production continuity.
[0003] More importantly, in the face of multiple groups of different numbers of box grouping requirements, the fixed-width clamp has significant operation limitations: if a narrow-width clamp is used to adapt to small boxes or a small number of boxes (such as three 150mm boxes side by side), although the turning radius can be reduced to realize the dense arrangement of boxes, it cannot meet the clamping requirements of a large number of boxes (such as five 150mm boxes side by side); if a wide-width clamp is used to adapt to a large number of boxes or large-size boxes, the turning radius will increase, which will result in a larger spacing between the boxes, directly limiting the grouping speed and box feeding density. This rigid structural defect makes the traditional gripper unable to switch operation modes without stopping, either continuously running in a wide mode with low efficiency or repeatedly stopping and manually replacing the clamp, resulting in a significant decrease in grouping efficiency, which is difficult to adapt to the production requirements of modern production lines with multiple varieties and flexibility, and becomes a key bottleneck restricting the automation upgrade of the production line. SUMMARY
[0004] The present application provides a full-automatic servo grouping gripper equipped with an X-axis driving mechanism and a Y-axis contraction adjustment mechanism, which realizes two-way automatic adjustment of the contraction of the side wall gripper spacing and the adjustment of the support plate spacing through a servo driving gear and rack and a transmission support assembly, and can independently adapt to different sizes of boxes without manual replacement of the clamp.
[0005] To achieve the above purpose, the present application realizes the following technical scheme: the full-automatic servo grouping gripper provided by the present application comprises a retractable side wall gripper and a gripper support frame device, The gripper support frame device comprises a transverse support frame and a gripper sliding shaft, and the gripper sliding shaft is installed at the lower part of the transverse support frame; the upper part of the retractable side wall gripper is slidably installed on the gripper sliding shaft; The X-axis driving mechanism connected with the retractable side wall gripper is arranged on the transverse support frame, and the two groups of retractable side wall grippers are driven by the X-axis driving mechanism to synchronously slide relatively close to each other along the gripper sliding shaft or apart from each other. Each retractable side wall gripper comprises a gripper main body and two groups of Y-axis adjusting support plates matched with the gripper main body, the two groups of Y-axis adjusting support plates are arranged on one side of the gripper main body oppositely, and the two groups of Y-axis adjusting support plates are connected and controlled by a Y-axis contraction adjusting mechanism to relatively close to or apart from each other along the Y-axis direction.
[0006] Preferably, the Y-axis contraction adjusting mechanism comprises a second servo motor, a first transmission assembly, first and second transmission racks arranged in parallel, and a first driving gear engaged between the first and second transmission racks, the outer ends of the first and second transmission racks are respectively fixedly connected with the outer sides of the two Y-axis adjusting support plates, The Y-axis contraction adjusting mechanism further comprises a second driving gear sleeved on the gripper sliding shaft, the bottom of the second driving gear is engaged with the upper part of the first transmission rack, The second servo motor drives the gripper sliding shaft to rotate reversely through the first transmission assembly, the gripper sliding shaft drives the second driving gear to rotate reversely, and finally controls the two Y-axis adjusting support plates to move relatively close to or apart from each other along the Y-axis direction.
[0007] Preferably, a second transmission support assembly is further connected between the second driving gear and the gripper sliding shaft, the second transmission support assembly comprises a sliding copper sleeve, a tension sleeve, a flange sleeve and an angular contact bearing, The two sides of the gripper sliding shaft are provided with a long strip-shaped key groove matched with the gripper main body, the sliding copper sleeve is sleeved and installed on the gripper sliding shaft, and the inner side of the sliding copper sleeve is provided with a clamping seat matched with the long strip-shaped key groove, the key groove rotating limiting connection structure is achieved through the clamping seat and the long strip-shaped key groove, the sliding copper sleeve and the gripper sliding shaft rotate synchronously, and the sliding copper sleeve can slide along the X-axis direction in the long strip-shaped key groove; The tension sleeve and the angular contact bearing are arranged side by side on the outer side wall of the sliding copper sleeve, and the second driving gear is fixedly connected with the sliding copper sleeve through the tension sleeve, The gripper main body is relatively slidably connected with the gripper sliding shaft through the flange sleeve sleeved on the outer side of the angular contact bearing.
[0008] Preferably, when the retractable side wall gripper slides relatively along the X-axis direction of the gripper sliding shaft, the sliding copper sleeve can slide transversely in the long strip-shaped key groove to adjust the distance between the two retractable side wall grippers along the X-axis direction. When the gripper sliding shaft drives the sliding copper sleeve to rotate, the sliding copper sleeve drives the tension sleeve to rotate synchronously, the angular contact bearing idles, the flange sleeve does not rotate, the tension sleeve drives the second driving gear to rotate, and then drives the Y-axis contraction adjusting mechanism to adjust the contraction width of the two Y-axis adjusting support plates along the Y-axis direction.
[0009] Preferably, outside the Y-axis contraction adjusting mechanism, a Y-shaped support connected with the gripper main body is further provided, and the three ends and the middle support point of the Y-shaped support are fixedly connected with the gripper main body through distance sleeves and connecting shafts; The installation positions of the distance sleeves and the connecting shafts at the middle support point of the Y-shaped support are located on the same straight line as the center of the first driving gear, the distance sleeves and the connecting shafts penetrate through the first driving gear and are fixedly connected with the gripper main body, and the first driving gear is relatively rotatably connected with the connecting shaft through the distance sleeves. The two upper end branches of the Y-shaped support are higher than the first transmission rack, and the lower end branches of the Y-shaped support are lower than the second transmission rack.
[0010] Preferably, the gripper support frame device comprises a guide rail sliding mechanism, which comprises linear guide rails arranged on both sides of the lateral support frame along the X-axis direction, sliding blocks and support plate supports, The sliding blocks are fixedly connected to the support plate supports, the lower part of the support plate support is fixedly connected to the gripper main body, and the gripper main body is axially limitedly slid along the linear guide rail through the support plate support and the sliding block.
[0011] Preferably, the X-axis driving mechanism comprises a first servo motor arranged on the lateral support frame, a third transmission rack and a fourth transmission rack arranged at the lower part of the lateral support frame; The third transmission rack and the fourth transmission rack are arranged in parallel on the same horizontal plane, and the third transmission rack and the fourth transmission rack are engaged with a horizontally arranged third driving gear through gears; the output end of the first servo motor penetrates through the lower end of the lateral support frame and is fixedly connected with the third driving gear; The outer ends of the third transmission rack and the fourth transmission rack are respectively fixedly connected with the support plate supports of the two sides of the collapsible side wall gripper.
[0012] Preferably, a fixed side plate is fixedly connected to the non-driving end of the lateral support frame, one end of the gripper sliding shaft is connected with the lower end of the fixed side plate through a rolling bearing, and the other end is connected with the second servo motor through a first transmission assembly, and the first transmission assembly is a gear transmission assembly.
[0013] Preferably, the lower gripping surface of the gripper main body of the collapsible side wall gripper is a square-shaped structure frame comprising a longitudinal support rod and two transverse connecting rods. A spacer sleeve is arranged at the inner side of the lower end of each of the two groups of Y-axis adjusting support plates, and a pad is arranged at the inner side end of each spacer sleeve, and each spacer sleeve can extend out of the spacing of the square-shaped structure frame under the driving of the Y-axis adjusting support plate, thereby effectively clamping the clamping width in the Y-axis direction.
[0014] Preferably, a convex clamping strip is arranged on the outer wall of the gripper main body of the collapsible side wall gripper, and a concave clamping groove matched with the convex clamping strip is arranged on the inner wall of the upper end of the Y-axis adjusting support plate. The convex clamping strip and the concave clamping groove are mutually clamped to form a sliding fit structure, and the stable sliding of the Y-axis adjusting support plate along the Y-axis direction of the handle main body is realized.
[0015] The full-automatic servo grouping handle provided by the application has the following beneficial effects: (1) The full-automatic servo grouping handle has a clever structure design, two groups of retractable side wall handles are driven by the X-axis driving mechanism to synchronously approach or separate along the handle sliding shaft, and the relative distance of the two groups of Y-axis adjusting support plates is controlled by the Y-axis retracting adjusting mechanism, so that the bidirectional full-automatic adjustment of the grouping handle in the X-axis and Y-axis directions is realized, the technical problem that the traditional fixed specification handle needs to be manually disassembled and replaced is solved, the grouping demand of different sizes of box types and multiple numbers of box bodies can be independently adapted without interrupting the production line, the downtime for changing the type is greatly shortened, and the production continuity and production line flexibility are significantly improved.
[0016] Meanwhile, through the optimization design of the second transmission support assembly, the key groove rotation limiting connection structure of the sliding copper sleeve and the handle sliding shaft not only realizes the synchronous rotation of the two for power transmission, but also guarantees the smooth sliding in the X-axis direction, so that the X-axis distance adjustment and the Y-axis width adjustment do not interfere with each other, the cooperation of the expansion sleeve, the angular contact bearing and the flange sleeve effectively improves the stability of power transmission and the reliability of structural support, and further ensures the precision and consistency of bidirectional adjustment.
[0017] (2) The Y-shaped support is fixed in a mode that the multi-pivot distance sleeve and the connecting shaft, which not only provides stable support for the Y-axis transmission assembly, but also guarantees the flexible rotation of the first driving gear, effectively improving the rigidity and transmission efficiency of the overall structure; The I-shaped structure frame at the lower part of the handle main body and the spacer sleeve and the pad at the lower end of the Y-axis adjusting support plate form staggered support, which not only enhances the structural stability of the clamping part, but also avoids extrusion damage to the box body. BRIEF DESCRIPTION OF DRAWINGS
[0018] Figure 1 is a structural schematic diagram of the application; Figure 2 is Figure 1 a structural schematic diagram of the front view; Figure 3 is a plan view of the handle support frame device in the application; Figure 4 is a front view of the handle support frame device in the application; Figure 5 is a structural schematic diagram of the retractable side wall handle in the application; Figure 6 is a sectional view of the second transmission support assembly in the application; Figure 7It is a left view of the gripper support frame device in the application.
[0019] In the figure: 1, transverse support frame; 2, gripper sliding shaft; 3, gripper main body; 4, Y-axis adjusting support plate; 5, first transmission rack; 6, second transmission rack; 7, first drive gear; 8, second drive gear; 9, second servo motor; 10, sliding copper sleeve; 11, expansion sleeve; 12, flange sleeve; 13, angular contact bearing; 14, long keyway; 15, linear slide rail; 16, sliding block; 17, support plate support; 18, first servo motor; 19, third transmission rack; 20, fourth transmission rack; 21, third drive gear; 22, fixed side plate; 23, Y-shaped support; 24, fixed distance sleeve; 25, spacer sleeve; 26, spacer plate. DETAILED DESCRIPTION
[0020] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, not all the embodiments of the application.
[0021] In the application, unless otherwise explicitly specified and limited, the terms “connection”, “fixation” and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or can be integrated; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances. Embodiment 1
[0022] Please refer to Figures 1-7 , the application provides a technical solution: as Figure 1 and Figure 2 shown, the full-automatic servo grouping gripper provided by the application includes a retractable side wall gripper and a gripper support frame device, the gripper support frame device is the bearing basis of the whole gripper, including a transverse support frame 1 and a gripper sliding shaft 2, wherein the gripper sliding shaft 2 is installed at the lower part of the transverse support frame 1, and the axial direction of the gripper sliding shaft 2 is consistent with the X-axis direction; the upper part of the retractable side wall gripper is slidably installed on the gripper sliding shaft 2, so that the retractable side wall gripper can reciprocate along the axial direction X-axis direction of the gripper sliding shaft 2.
[0023] To ensure the stability and limit accuracy of the collapsible side wall gripper sliding in the X-axis direction, a guide rail sliding mechanism is arranged on the gripper support frame device; the guide rail sliding mechanism includes a linear slide rail 15, a sliding block 16, and a support plate bracket 17. The linear slide rail 15 is fixed on both sides of the transverse support frame 1 along the X-axis direction. The sliding block 16 is in sliding connection with the linear slide rail 15, and the sliding block 16 is fixedly connected to the upper part of the support plate bracket 17. The lower part of the support plate bracket 17 is fixedly connected with the gripper main body 3 of the collapsible side wall gripper. Through the above connection relationship, the gripper main body 3 can realize axial limiting sliding in the X-axis direction through the cooperation of the support plate bracket 17 and the sliding block 16 along the linear slide rail 15, effectively avoiding deviation or shaking during sliding.
[0024] As shown in Figures 2 to 4 The transverse support frame 1 is provided with an X-axis driving mechanism for driving the collapsible side wall gripper to move. The X-axis driving mechanism includes a first servo motor 18, a third transmission rack 19, a fourth transmission rack 20, and a third drive gear 21. The first servo motor 18 is fixedly installed on the upper part of the transverse support frame 1, and its output end penetrates vertically downward to the lower end of the transverse support frame 1. The third transmission rack 19 and the fourth transmission rack 20 both extend along the X-axis direction, and are located in the same horizontal plane and arranged in opposite parallel. The outer ends of the third transmission rack 19 and the fourth transmission rack 20 are fixedly connected with the support plate brackets 17 of the two collapsible side wall grippers, respectively. The third drive gear 21 is horizontally arranged between the third transmission rack 19 and the fourth transmission rack 20, and is in meshing connection with both. The output end of the first servo motor 18 is fixedly connected with the third drive gear 21, forming a power input structure.
[0025] When it is necessary to adjust the X-axis distance between the two groups of collapsible side wall grippers, the first servo motor 18 is started to drive the third drive gear 21 to rotate forward and reverse, and through the meshing transmission of the third drive gear 21 with the third transmission rack 19 and the fourth transmission rack 20, the two groups of transmission racks are driven to move synchronously in opposite directions, and then through the support plate bracket 17, the two collapsible side wall grippers on both sides are driven to realize the gripping action by synchronously relatively approaching along the gripper sliding shaft 2 and the linear slide rail 15, or the loosening or distance adjustment action by synchronously separating, and finally complete the distance self-adaptive adjustment in the X-axis direction. Embodiment 2
[0026] As shown in Figure 5As shown, the retractable side wall gripper is the execution unit for clamping the box body, each retractable side wall gripper includes a gripper body 3 and two sets of Y-axis adjustment support plates 4 matched with the gripper body 3, the two sets of Y-axis adjustment support plates 4 are oppositely arranged on one side of the gripper body 3, and the two sets of Y-axis adjustment support plates 4 form a clamping structure that can move towards or away from each other with the gripper body 3 as the reference; the two sets of Y-axis adjustment support plates 4 are connected and controlled by the Y-axis contraction adjustment mechanism between the two sets of Y-axis adjustment support plates 4 and the gripper body 3 to relatively approach or separate along the Y-axis direction, so as to adapt to the clamping needs of box bodies of different sizes.
[0027] In order to ensure the straightness and stability of the Y-axis adjustment support plate 4 sliding along the Y-axis direction, the outer side wall of the gripper body 3 is integrally formed with a convex clamping strip along the Y-axis direction, and correspondingly, a concave clamping groove matched with the convex clamping strip is formed on the inner side wall of the Y-axis adjustment support plate 4; the convex clamping strip and the concave clamping groove form a sliding fit structure through clamping, which on the one hand limits the relative deflection between the Y-axis adjustment support plate 4 and the gripper body 3, and provides accurate guidance for the movement along the Y-axis direction; on the other hand, it allows the Y-axis adjustment support plate 4 to smoothly slide along the Y-axis direction along the convex clamping strip, avoiding jamming or deviation during adjustment, and further ensuring the accuracy and smoothness of the two sets of Y-axis adjustment support plates 4 in the Y-axis contraction width adjustment.
[0028] As shown in Figure 4 and Figure 5 , the Y-axis contraction adjustment mechanism is the power transmission core of the Y-axis direction adjustment, which includes a second servo motor 9, a first transmission assembly, a first transmission rack 5, a second transmission rack 6 and a first drive gear 7; the first transmission rack 5 and the second transmission rack 6 extend along the Y-axis direction, and are arranged in parallel and spaced apart; the first drive gear 7 is horizontally arranged between the first transmission rack 5 and the second transmission rack 6, and is meshed and connected with the two sets of racks; the outer end of the first transmission rack 5 is fixedly connected with the outer side wall of one of the Y-axis adjustment support plates 4, and the outer end of the second transmission rack 6 is fixedly connected with the outer side wall of the other Y-axis adjustment support plate 4, so that the straight line movement of the rack can directly drive the synchronous movement of the two Y-axis adjustment support plates 4; the Y-axis contraction adjustment mechanism further includes a second drive gear 8 sleeved on the gripper sliding shaft 2, and the second drive gear 8 is meshed and connected with the upper part of the first transmission rack 5; the second servo motor 9 is connected with the gripper sliding shaft 2 through the first transmission assembly to drive the gripper sliding shaft 2 to rotate forward and backward along its own axis.
[0029] When the second servo motor 9 starts, power is transmitted to the gripper sliding shaft 2 in sequence through the first transmission assembly, driving the gripper sliding shaft 2 to rotate forward or reverse, and then driving the second drive gear 8 connected thereto to rotate forward or reverse synchronously; the second drive gear 8 drives the first transmission rack 5 to move linearly along the Y-axis direction through meshing with the first transmission rack 5, while the first transmission rack 5 drives the first drive gear 7 to rotate, and the first drive gear 7 drives the second transmission rack 6 to move linearly along the Y-axis direction in the opposite direction, finally realizing the synchronous relative approach or separation of the two groups of Y-axis adjustment support plates 4 along the Y-axis direction. Example 3
[0030] As shown in Figure 6 , in order to realize the coordinated compatibility of Y-axis power transmission and X-axis sliding adaptation, a second transmission support assembly is connected between the second drive gear 8 and the gripper sliding shaft 2, the second transmission support assembly includes a sliding copper sleeve 10, a tension sleeve 11, a flange sleeve 12 and an angular contact bearing 13, both sides of the gripper sliding shaft 2 are provided with a long key groove 14 matched with the gripper main body 3 along the axial direction, the sliding copper sleeve 10 is sleeved and installed on the gripper sliding shaft 2, the inner side wall of the sliding copper sleeve 10 is integrally formed with a clamping seat matched with the long key groove 14, the clamping seat and the long key groove 14 form a key groove rotation limiting connection structure through clamping, which on the one hand limits the relative rotation between the sliding copper sleeve 10 and the gripper sliding shaft 2, realizing synchronous rotation of the two; on the other hand, allows the sliding copper sleeve 10 to reciprocate along the X-axis direction extending along the long key groove 14, adapts to the X-axis interval adjustment of the retractable side wall gripper; As shown in Figure 6 , the tension sleeve 11 and the angular contact bearing 13 are arranged side by side on the outer side wall of the sliding copper sleeve 10, and the second drive gear 8 is fixedly connected with the sliding copper sleeve 10 through the tension sleeve 11, so that the rotation of the sliding copper sleeve 10 can be directly transmitted to the second drive gear 8 through the tension sleeve 11, ensuring the stability of the torque of power transmission; the flange sleeve 12 is coaxially sleeved on the outer side wall of the angular contact bearing 13, and the flange sleeve 12 is fixedly connected with the gripper main body 3; the angular contact bearing 13 is configured to only allow itself to rotate relative to the flange sleeve 12, when the sliding copper sleeve 10 drives the tension sleeve 11 to rotate, the angular contact bearing 13 rotates synchronously to avoid the flange sleeve 12 rotating with the sliding copper sleeve 10, thereby ensuring that the gripper main body 3 always maintains a stable support state and does not deflect with the Y-axis adjustment power.
[0031] Through the structural design of the second transmission support assembly, X-axis spacing adjustment and Y-axis width adjustment can be realized without interference. Specifically, when the two groups of retractable side wall grippers slide relative to each other along the gripper sliding shaft 2 in the X-axis direction, the sliding copper sleeve 10 moves along the X-axis direction synchronously with the retractable side wall grippers through the sliding fit of the inner side of the sliding copper sleeve 10 with the long strip-shaped key groove 14, thereby driving the second drive gear 8, the tension sleeve 11 and the angular contact bearing 13 to slide along the X-axis synchronously, realizing the synchronous adaptation of the Y-axis adjustment mechanism and the X-axis sliding action, and ensuring the position following property of the Y-axis adjustment mechanism during X-axis spacing adjustment. When Y-axis direction width adjustment is required, the second servo motor 9 drives the gripper sliding shaft 2 to rotate, and the sliding copper sleeve 10 rotates synchronously with the gripper sliding shaft 2 through the key groove rotation limiting connection structure, thereby driving the tension sleeve 11 and the second drive gear 8 to rotate synchronously. At this time, the angular contact bearing 13 idles around the flange sleeve 12, and the flange sleeve 12 and the gripper main body 3 remain stationary. The second drive gear 8 drives the Y-axis contraction adjustment mechanism to act through the meshing with the first transmission rack 5, and finally realizes the contraction width adjustment of the two groups of Y-axis adjustment support plates 4 in the Y-axis direction, without affecting the X-axis position stability of the retractable side wall grippers. Example 4
[0032] As shown in Figure 1 To improve the installation stability and movement reliability of the transmission components in the Y-axis contraction adjustment mechanism, avoid the deviation or vibration of the rack and pinion during transmission, the outer side of the Y-axis contraction adjustment mechanism is further provided with a Y-shaped support 23 fixedly connected with the gripper main body 3. The Y-shaped support 23 serves as an auxiliary support structure for the transmission components. Assembly holes are formed at the three ends and the middle support point of the Y-shaped support 23. Distance sleeves 24 and connecting shafts are arranged in the assembly holes. The distance sleeves 24 are arranged outside the connecting shafts to accurately control the assembly distance between the Y-shaped support 23 and the gripper main body 3, avoid the shaking of the Y-shaped support 23 due to assembly gap, and ensure the force balance of each connection point.
[0033] To realize accurate positioning and flexible support of the first drive gear 7, the assembly hole at the middle support point of the Y-shaped support 23 (i.e. the mounting position of the distance sleeve 24 and the connecting shaft) is located on the same straight line as the center axis of the first drive gear 7. During assembly, the connecting shaft penetrates the distance sleeve 24 at the middle support point and the center hole of the first drive gear 7 in sequence, and is fixedly connected with the gripper main body 3. The inner hole of the first drive gear 7 matches the outer side wall of the distance sleeve 24, which not only limits the radial deviation of the gear during rotation through the distance sleeve 24 and the connecting shaft, but also allows the first drive gear 7 to rotate freely relative to the distance sleeve 24 and the connecting shaft, without affecting the meshing transmission efficiency of the first drive gear 7 with the first transmission rack 5 and the second transmission rack 6.
[0034] As shown in Figure 5As shown, the three branch ends of the Y-shaped support 23 are arranged at different heights to adapt to the installation positions of the first transmission rack 5 and the second transmission rack 6, avoiding interference with the linear motion of the racks: the heights of the two upper end branch ends are higher than the top surface of the first transmission rack 5, ensuring that the top of the first transmission rack 5 will not collide with the upper end branches when moving along the Y-axis direction; the height of the lower end branch end is lower than the bottom surface of the second transmission rack 6, ensuring that the bottom of the second transmission rack 6 will not be scraped by the lower end branches when moving along the Y-axis direction; through the above spatial layout design, the Y-shaped support 23 can completely avoid the risk of interference with the rack motion while providing stable support for the transmission components, ensuring smooth operation of the Y-axis contraction adjustment mechanism. The Y-shaped support 23 is fixed by multiple support points, coaxially positioned, and designed to avoid interference, which on the one hand provides rigid support for the first drive gear 7, the first transmission rack 5, and the second transmission rack 6, reduces vibration and deformation of the transmission components during servo driving, and effectively improves the accuracy of Y-axis width adjustment; on the other hand, through the standardized assembly of the distance sleeve 24, the assembly error of each component is reduced, facilitating later maintenance and component replacement, while the Y-shaped frame structure takes into account the support strength and lightweight requirements, avoiding additional load on the grip main body 3. Example 5
[0035] As shown in Figure 4 and Figure 7 To ensure the axial stability of the grip sliding shaft 2 during power transmission and X-axis sliding adaptation, precise positioning and support are required at both ends. A fixed side plate 22 is fixed to the non-driven end of the horizontal support frame 1. The lower end of the fixed side plate 22 is provided with a bearing mounting hole adapted to the grip sliding shaft 2. A rolling bearing is fixedly assembled in the mounting hole. The non-driven end of the grip sliding shaft 2 is connected to the lower end of the fixed side plate 22 through the rolling bearing. Through this structure, the grip sliding shaft 2 can rotate flexibly around its own axis, and the rolling bearing provides radial support to prevent the grip sliding shaft 2 from radially deviating during rotation. The driven end of the grip sliding shaft 2 is connected to the output end of the second servo motor 9 through the first transmission assembly, realizing precise transmission of Y-axis adjustment power. The first transmission assembly is a gear transmission assembly that meshes with each other. The above structure takes into account the support stability and power transmission accuracy, providing reliable basic support for the grip sliding shaft 2 to simultaneously drive the second drive gear 8 to rotate for Y-axis adjustment and X-axis sliding adaptation.
[0036] As shown in Figure 1 and Figure 5As shown, the lower part of the gripper body 3 of the retractable side wall gripper is a gripping surface directly contacting the box, which adopts an H-shaped structural frame design. The H-shaped structural frame is integrally formed by one longitudinal support rod and two transverse connecting rods. The two transverse connecting rods extend along the Y-axis direction and are respectively perpendicularly fixed to the upper and lower ends of the longitudinal support rod, forming an H-shaped middle spacing space, which not only guarantees the structural rigidity of the gripping surface, but also reserves installation space for the extension of the clamping part. At the middle spacing space of the H-shaped structural frame, the inner side of the lower end of each of the two groups of Y-axis adjustment support plates 4 is correspondingly provided with a spacer sleeve 25. The inner side end of each spacer sleeve 25 is coaxially fixed with a pad 26, which is used to avoid damage to the surface of the box caused by extrusion during clamping. When the Y-axis contraction adjustment mechanism drives the two groups of Y-axis adjustment support plates 4 to relatively approach or separate along the Y-axis direction, the Y-axis adjustment support plates 4 synchronously drive the spacer sleeves 25 to move along the Y-axis direction. If it is necessary to expand the clamping width, the spacer sleeves 25 move away from the center of the H-shaped structural frame along with the Y-axis adjustment support plates 4, and can extend out of the middle spacing space of the H-shaped structural frame. If it is necessary to reduce the clamping width, the spacer sleeves 25 move towards the center of the frame along with the Y-axis adjustment support plates 4, and can be withdrawn into the spacing space. Through the extension and retraction of the spacer sleeves 25, the effective wrapping and clamping of boxes with different Y-axis widths are realized, and at the same time, the pad 26 is in close contact with the surface of the box, which further improves the clamping stability and avoids the box from slipping or deviating during the carrying process.
[0037] The working principle of the full-automatic servo grouping gripper is as follows: Firstly, when it is necessary to clamp and group boxes of different specifications, the full-automatic servo grouping gripper first starts the clamping action in the X-axis direction through the X-axis driving mechanism of the gripper support frame device. The first servo motor 18 outputs power to drive the third driving gear 21 fixed at the lower end to rotate. Since the third driving gear 21 is meshed with the third transmission rack 19 and the fourth transmission rack 20 arranged in parallel on the two sides, and the opposite ends of the two racks are respectively fixed to the support plate brackets 17 on the two sides, the rotation of the third driving gear 21 will be converted into the reverse or same direction sliding of the third transmission rack 19 and the fourth transmission rack 20. At the same time, the upper end of the support plate bracket 17 is matched with the linear sliding rails 15 on the two sides of the transverse support frame 1 through the sliding block 16, which ensures that the support plate bracket 17 drives the retractable side wall gripper fixed thereto to stably slide along the gripper sliding shaft 2, and finally realizes the relative approach or separation of the two groups of retractable side wall grippers, completes the preliminary clamping or loosening of the box, and lays the foundation for subsequent grouping.
[0038] Then, when the clamping width in the Y-axis direction needs to be adjusted according to the size of the box, or the turning radius needs to be changed to reduce the spacing between the boxes, the Y-axis contraction adjustment mechanism of the retractable side wall gripper starts to work: the second servo motor 9 drives the gripper sliding shaft 2 to rotate, and the gripper sliding shaft 2 is matched with the clamping seat of the sliding copper sleeve 10 in the transmission support assembly through the long strip-shaped key groove 14, so that the sliding copper sleeve 10 can rotate synchronously with the gripper sliding shaft 2 and can slide horizontally within the range of the long strip-shaped key groove 14, adapting to the position adjustment in the X-axis direction; when the sliding copper sleeve 10 rotates, the expansion sleeve 11 at both ends rotates synchronously with the angular contact bearing 13, and the second drive gear 8 fixed outside the expansion sleeve 11 rotates, and the second drive gear 8 is engaged with the first transmission rack 5 below, thereby driving the first drive gear 7 between the first transmission rack 5 and the second transmission rack 6 to rotate, since the opposite ends of the two racks are respectively fixed to the upper ends of the two adjustment support outer side walls, the rotation of the first drive gear 7 drives the first transmission rack 5 and the second transmission rack 6 to slide reversely, at the same time, the concave clamping groove on the inner side wall of the Y-axis adjustment support plate 4 is matched with the convex clamping strip on the outer side wall of the gripper main body 3 to ensure that the two Y-axis adjustment support plates 4 can stably expand and contract along the gripper main body 3, so as to realize the accurate adjustment of the clamping width in the Y-axis direction, for example, when three 150mm small boxes are arranged side by side, the narrow form is adjusted to reduce the turning radius to realize the dense arrangement of the boxes; when five 50mm large boxes are arranged side by side, the wide form is adjusted to meet the clamping requirement of large size.
[0039] Finally, during the whole operation process, the X-axis clamping action and the Y-axis width adjustment action of the two groups of retractable side wall grippers can be carried out cooperatively, and the switching of the Y-axis width form does not need to stop: when it is needed to switch from clamping three small boxes to clamping five small boxes, only the Y-axis width adjustment of the Y-axis contraction adjustment mechanism needs to be adjusted by the second servo motor 9, without the need for manual replacement of parts, thereby avoiding the time waste of stopping and replacing the traditional fixed specification gripper; at the same time, the small turning radius of the Y-axis narrow form can make the boxes more densely arranged before entering the box sorting, and more boxes can be accommodated in the same area, while the wide form can adapt to large size boxes, so as to realize the efficient clamping, flexible grouping and rapid entering of boxes of different specifications, and greatly improve the overall operation efficiency.
[0040] In summary, the full-automatic servo grouping gripper of the present application has a clever device structure design, and through the cooperative action of the X-axis drive mechanism of the gripper support frame device and the Y-axis contraction adjustment mechanism of the retractable side wall gripper, the grouping gripper can be automatically adjusted in the X-axis and Y-axis directions, thereby completely solving the technical problem of the traditional fixed specification gripper that needs to be manually disassembled and replaced, and the automatic packaging machine can automatically adapt to the grouping requirements of different sizes of boxes and multiple numbers of boxes without interrupting the production line, thereby greatly shortening the downtime and significantly improving the production continuity and line flexibility.
[0041] The above merely describes preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical solution and inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.
Claims
1. A fully automatic servo marshalling gripper, characterized in that, The device comprises collapsible side wall grippers and a gripper support frame device, The gripper support frame device comprises a transverse support frame (1) and a gripper sliding shaft (2) installed at the lower part of the transverse support frame (1), and the upper part of the collapsible side wall gripper is slidably installed on the gripper sliding shaft (2); An X-axis driving mechanism is arranged on the transverse support frame (1) and connected with the collapsible side wall gripper, and two groups of the collapsible side wall grippers are driven by the X-axis driving mechanism to synchronously slide relatively close to each other or apart along the gripper sliding shaft (2); Each collapsible side wall gripper comprises a gripper main body (3) and two groups of Y-axis adjusting support plates (4) matched with the gripper main body (3), the two groups of Y-axis adjusting support plates (4) are arranged on one side of the gripper main body (3) in a relative manner, and the Y-axis adjusting support plates (4) are connected and controlled by a Y-axis contraction adjusting mechanism to relatively close to or apart from each other along the Y-axis direction.
2. A fully automatic servo marshalling gripper according to claim 1, characterized in that, The Y-axis contraction adjusting mechanism comprises a second servo motor (9), a first transmission assembly, first and second transmission racks (5, 6) arranged in parallel, and a first driving gear (7) engaged between the first and second transmission racks (5, 6); the outer ends of the first and second transmission racks (5, 6) are respectively fixed to the outer sides of the two Y-axis adjusting support plates (4), The Y-axis contraction adjusting mechanism further comprises a second driving gear (8) sleeved on the gripper sliding shaft (2), and the bottom of the second driving gear (8) is engaged with the upper part of the first transmission rack (5), The second servo motor (9) drives the gripper sliding shaft (2) to rotate forward and backward through the first transmission assembly, the gripper sliding shaft (2) drives the second driving gear (8) to rotate forward and backward, and finally controls the two Y-axis adjusting support plates (4) to move relatively close to or apart from each other along the Y-axis direction.
3. A fully automatic servo marshalling gripper according to claim 2, characterized in that, A second transmission support assembly is further connected between the second driving gear (8) and the gripper sliding shaft (2), and the second transmission support assembly comprises a sliding copper sleeve (10), a tension sleeve (11), a flange sleeve (12), and an angular contact bearing (13), Both sides of the gripper sliding shaft (2) are provided with a long strip-shaped key groove (14) matched with the gripper main body (3), the sliding copper sleeve (10) is sleeved and installed on the gripper sliding shaft (2), and the inner side of the sliding copper sleeve (10) is provided with a clamping seat matched with the long strip-shaped key groove (14), the key groove rotating limiting connection structure is achieved by clamping the clamping seat and the long strip-shaped key groove (14), the sliding copper sleeve (10) rotates synchronously with the gripper sliding shaft (2), and the sliding copper sleeve (10) can slide along the X-axis direction in the long strip-shaped key groove (14); The tension sleeve (11) and the angular contact bearing (13) are arranged side by side on the outer side wall of the sliding copper sleeve (10), and the second driving gear (8) is fixed to the sliding copper sleeve (10) through the tension sleeve (11), The gripper main body (3) is relatively slidably connected with the gripper sliding shaft (2) through the flange sleeve (12) sleeved on the outer side of the angular contact bearing (13).
4. A fully automatic servo marshalling gripper according to claim 2, characterized in that, When the collapsible side wall gripper slides along the X-axis direction of the gripper sliding shaft (2), the sliding copper sleeve (10) can slide horizontally in the long strip-shaped keyway (14) to adjust the X-axis distance between the two collapsible side wall grippers. When the gripper sliding shaft (2) drives the sliding copper sleeve (10) to rotate, the sliding copper sleeve (10) drives the expansion sleeve (11) to rotate synchronously, the angular contact bearing (13) idles, the flange sleeve (12) does not rotate, the expansion sleeve (11) drives the second drive gear (8) to rotate, and further drives the Y-axis contraction adjustment mechanism to adjust the contraction width of the two Y-axis adjustment support plates (4) in the Y-axis direction.
5. A fully automatic servo marshalling gripper according to claim 2, characterized in that, On the outside of the Y-axis contraction adjustment mechanism, a Y-shaped support (23) connected with the gripper main body (3) is further arranged, and the three ends and the middle support point of the Y-shaped support (23) are fixedly connected with the gripper main body (3) through distance sleeves (24) and connecting shafts. The installation positions of the distance sleeves (24) and the connecting shafts at the middle support point of the Y-shaped support (23) are located on the same straight line as the center of the first drive gear (7), the distance sleeves (24) and the connecting shafts penetrate the first drive gear (7) and are fixedly connected with the gripper main body (3), and the first drive gear (7) can rotate relative to the distance sleeves (24) on the connecting shaft. The two upper end support points of the Y-shaped support (23) are higher than the first transmission rack (5), and the lower end support point is lower than the second transmission rack (6).
6. A fully automatic servo marshalling gripper according to claim 1, characterized in that, The gripper support frame device comprises a guide rail sliding mechanism, the guide rail sliding mechanism comprises linear guide rails (15) arranged on both sides of the transverse support frame (1) along the X-axis direction, sliding blocks (16), and support plate supports (17), The sliding blocks (16) are fixedly connected to the support plate supports (17), the lower part of the support plate supports (17) is fixedly connected with the gripper main body (3), and the gripper main body (3) realizes axial limit sliding along the linear guide rails (15) through the support plate supports (17) and the sliding blocks (16).
7. A fully automatic servo marshalling gripper according to claim 6, characterized in that, The X-axis drive mechanism comprises a first servo motor (18) arranged on the transverse support frame (1), a third transmission rack (19) and a fourth transmission rack (20) arranged at the lower part of the transverse support frame (1); The third transmission rack (19) and the fourth transmission rack (20) are arranged in parallel on the same horizontal plane, and the third transmission rack (19) and the fourth transmission rack (20) are engaged with a horizontally arranged third drive gear (21) through gears; the output end of the first servo motor (18) penetrates to the lower end of the transverse support frame (1) and is fixedly connected with the third drive gear (21); And the outer ends of the third transmission rack (19) and the fourth transmission rack (20) are respectively fixedly connected with the support plate supports (17) of the two collapsible side wall grippers.
8. A fully automatic servo marshalling gripper according to claim 7, characterized in that, The fixed side plate (22) is fixed at the non-driving end of the transverse support frame (1), one end of the gripper sliding shaft (2) is connected with the lower end of the fixed side plate (22) through a rolling bearing, and the other end is connected with the second servo motor (9) through the first transmission assembly.
9. A fully automatic servo marshalling gripper according to claim 1, characterized in that, The lower gripping surface of the gripper main body (3) of the collapsible side wall gripper is a soil-shaped structural frame, which comprises a longitudinal support rod and two transverse connecting rods. A spacer sleeve (25) is installed at the lower end of each of the two groups of Y-axis adjusting support plates (4) at the interval of the soil-shaped structural frame, a pad (26) is connected to the inner end of each spacer sleeve (25), and each spacer sleeve (25) can be extended out of the interval of the soil-shaped structural frame under the driving of the Y-axis adjusting support plate (4), thereby effectively clamping the width in the Y-axis direction.
10. A fully automatic servo marshalling gripper according to claim 1, characterized in that, A convex clamping strip is arranged on the outer side wall of the gripper main body (3) of the collapsible side wall gripper, and a concave clamping groove matched with the convex clamping strip is arranged on the upper end of the inner side wall of the Y-axis adjusting support plate (4), The convex clamping strip and the concave clamping groove are mutually clamped to form a sliding fit structure, and the Y-axis adjusting support plate (4) can smoothly slide along the gripper main body (3) in the Y-axis direction.