Carton stack and empty tray grabbing device

Abstract

The utility model discloses a carton stack and empty tray grabbing device which comprises a supporting frame, a carton stack grabbing assembly and an empty tray grabbing assembly. The carton stack grabbing assembly is installed at the bottom of the supporting frame and comprises a first suction cup mechanism, the first suction cup mechanism comprises a suction cup swing rod and a buffering suction cup, the first suction cup mechanism is folded to the bottom of the supporting frame by rotating the suction cup swing rod, and the other end of the suction cup swing rod is connected with the buffering suction cup. The buffer suckers are used for adsorbing or releasing the carton stack; the empty tray grabbing assembly comprises a first clamping and hooking mechanism and a second clamping and hooking mechanism, and the first clamping and hooking mechanism and the second clamping and hooking mechanism are hinged to the two opposite ends of the supporting frame correspondingly and rotate through the first clamping and hooking mechanism and the second clamping and hooking mechanism. And the end parts of the first clamping hook mechanism and the second clamping hook mechanism are close to each other or far away from each other to grab or release the empty tray. The carton stacking and empty tray grabbing device can achieve the functions of grabbing carton stacks and empty trays at the same time, production efficiency can be improved, and investment cost can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic packaging production, in particular to a device for grabbing a carton stack and an empty tray. Background Art

[0002] The cartons used in the production process in the packaging and sealing area of ​​the wrapping workshop are all auxiliary material pallets output from the auxiliary material warehouse. The auxiliary material pallets need to be depalletized into carton stacks and empty pallets in advance.

[0003] Currently, cartons are usually unpacked and distributed by manual forklifts or AGVs, and placed in the designated area of ​​each carton filling and sealing machine. However, this process of manually loading cartons requires a large amount of labor input, and the labor intensity of operators is high, which is not suitable for large-scale production. In some productions with a relatively high degree of automation, two groups of robots are usually used with front-end actuators with different functions to work together. One group of robots is responsible for driving the carton stack grasping device to grasp, transfer, and release the carton stack, and the other group of robots grasps and places empty pallets. This method occupies more production space, has a high investment cost, and has low production efficiency. Utility Model Content

[0004] In order to overcome the shortcomings of the prior art, the purpose of the utility model is to provide a device for grabbing carton stacks and empty pallets, which can concentrate the functions of grabbing carton stacks and grabbing empty pallets in the same device, eliminating the need for two groups of robots carrying front-end execution devices with different functions to work together, thereby reducing investment costs, and the system has a high degree of integration, and the functions cooperate with each other to improve production efficiency.

[0005] The purpose of the utility model is achieved by the following technical solutions:

[0006] A carton stack and empty pallet grabbing device, characterized in that it comprises a support frame, a carton stack grabbing component and an empty pallet grabbing component;

[0007] The support frame serves as a connecting support;

[0008] The carton stack grabbing assembly is installed at the bottom of the support frame, and the carton stack grabbing assembly includes a first suction cup mechanism, which includes a suction cup swing rod and a buffer suction cup. One end of the suction cup swing rod is rotatably connected to the support frame, and the first suction cup mechanism is folded to the bottom of the support frame by rotating the suction cup swing rod. The other end of the suction cup swing rod is connected to the buffer suction cup, and the buffer suction cup is used to adsorb or release the carton stack;

[0009] The empty pallet grabbing assembly includes a first hook mechanism and a second hook mechanism, and the first hook mechanism and the second hook mechanism are respectively hinged at opposite ends of the support frame. The first hook mechanism and the second hook mechanism are rotated relative to the support frame to make the ends of the first hook mechanism and the second hook mechanism approach or move away from each other, thereby grabbing or releasing the empty pallet.

[0010] In an optional embodiment, the support frame includes a main frame, an adapter plate and a connecting flange; the top of the adapter plate is connected to the connecting flange, and the bottom of the adapter plate is connected to the top of the main frame; the connecting flange is used to install the device on a robot.

[0011] In an optional embodiment, the first suction cup mechanism also includes a suction cup shaft and a first driving mechanism, the suction cup shaft is rotatably connected to the main frame, the end of the suction cup rocker arm away from the buffer suction cup is connected to the circumferential surface of the suction cup shaft, and the first driving mechanism is used to drive the suction cup shaft to rotate.

[0012] In an optional embodiment, the first driving mechanism includes a suction cup control cylinder and a suction cup connecting rod, the suction cup control cylinder having a fixed end and a telescopic end, the fixed end of the suction cup control cylinder is connected to the bottom of the adapter plate, the telescopic end of the suction cup control cylinder is hinged to the suction cup connecting rod, and the end of the suction cup connecting rod away from the suction cup control cylinder is circumferentially connected to the suction cup rotating shaft.

[0013] In an optional embodiment, a through hole is formed at the end of the suction cup rocker arm, and the through hole is adapted to the suction cup rotating shaft; a locking groove is circumferentially opened in the through hole, and a locking screw is arranged in the locking groove; by rotating the locking screw, the locking groove is moved closer to or farther from the relative side, thereby locking or loosening the suction cup rotating shaft.

[0014] In an optional embodiment, an avoidance groove is formed on the main frame, the avoidance groove is adapted to the first suction cup mechanism, and the first suction cup mechanism can be stored in the avoidance groove by rotating and folding.

[0015] In an optional embodiment, a second suction cup mechanism is further included, and the first suction cup mechanism and the second suction cup mechanism are respectively arranged on two opposite sides of the adapter plate.

[0016] In an optional embodiment, the first hook mechanism includes a hook shaft, a tray hook and a second driving mechanism, the hook shaft is rotatably connected to the main frame, the two tray hooks are fixed to opposite ends of the hook shaft, and the second driving mechanism is used to drive the hook shaft to rotate;

[0017] The second driving mechanism includes a pallet hook connecting rod and a pallet hook control cylinder; the pallet hook control cylinder has a fixed end and a telescopic end, the fixed end of the pallet hook control cylinder is connected to the main frame, the telescopic end of the pallet hook control cylinder is hinged to the pallet hook connecting rod, and one end of the pallet hook connecting rod away from the pallet hook control cylinder is circumferentially connected to the hook rotating shaft.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The utility model provides a carton stack and empty pallet grabbing device, by arranging a carton stack grabbing component and an empty pallet grabbing component on a support frame, and the carton stack grabbing component can be stored at the bottom of the support frame by rotation and folding, so as to reserve more space for grabbing an empty pallet, and the two functions do not affect each other, so that the functions of grabbing carton stacks and grabbing empty pallets are concentrated in a unified device, and there is no need for two groups of robots to carry front-end execution devices with different functions to cooperate in work, thereby reducing investment costs, and the system has high integration, and the functions cooperate with each other to improve production efficiency. The use of automated equipment improves the degree of automation of the production site, thereby achieving the purpose of improving work efficiency, reducing labor input, and reducing the labor intensity of operators, with innovative layout and simple maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the carton stack and empty pallet grabbing device of Example 1;

[0021] Figure 2 It is a structural schematic diagram of the carton stack and empty pallet grabbing device of Example 1 from another angle;

[0022] Figure 3 This is a partial enlarged view of part A of the carton stack and empty pallet grabbing device of Example 1.

[0023] In the figure: 100, support frame; 110, main frame; 111, avoidance groove; 120, adapter plate; 130, connecting flange; 200, carton stack grasping assembly; 210, first suction cup mechanism; 211, suction cup swing rod; 212, buffer suction cup; 213, suction cup shaft; 214, suction cup control cylinder; 215, suction cup connecting rod; 216, locking groove; 217, locking screw; 220, second suction cup mechanism; 300, empty pallet grasping assembly; 310, first hook mechanism; 311, hook shaft; 312, pallet hook; 313, pallet hook connecting rod; 314, pallet hook control cylinder; 320, second hook mechanism. DETAILED DESCRIPTION

[0024] Below, in conjunction with the accompanying drawings and specific implementation methods, the utility model is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar numbers throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0025] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0026] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0027] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1:

[0029] Please refer to Figure 1-3 , This embodiment provides a carton stack and empty pallet grabbing device, characterized in that it includes a support frame 100, a carton stack grabbing assembly 200 and an empty pallet grabbing assembly 300;

[0030] The support frame 100 serves as a connecting support; the support frame 100 of this embodiment includes a main frame 110, an adapter plate 120 and a connecting flange 130; the main frame 110 is spliced ​​from multiple aluminum profiles, which is convenient for the installation of individual components and more convenient for expanding functions; the top of the adapter plate 120 is connected to the connecting flange 130, and the bottom of the adapter plate 120 is connected to the top of the main frame 110; the connecting flange 130 is used to install the device on a robot.

[0031] The carton stack grabbing assembly 200 is installed at the bottom of the main frame 110. The carton stack grabbing assembly 200 includes a first suction cup mechanism 210 and a second suction cup mechanism 220. The first suction cup mechanism 210 and the second suction cup mechanism 220 are symmetrically arranged on opposite sides of the adapter plate 120 with the axis of the connecting flange 130 as the center.

[0032] Specifically, the first suction cup mechanism 210 includes a suction cup swing rod 211 and a buffer suction cup 212. One end of the suction cup swing rod 211 is rotatably connected to the main frame 110. The first suction cup mechanism 210 is folded at the bottom of the main frame 110 by rotating the suction cup swing rod 211. The other end of the suction cup swing rod 211 is connected to the buffer suction cup 212. The buffer suction cup 212 is connected to an air source control component. The air source control component is used to turn on or off the vacuum inside the buffer suction cup 212 to adsorb or release the carton stack.

[0033] The second suction cup mechanism 220 has the same structure as the first suction cup mechanism 210 , and the two are arranged opposite to each other and work together to transfer the carton stack.

[0034] The empty pallet grabbing assembly 300 includes a first hook mechanism 310 and a second hook mechanism 320, and the first hook mechanism 310 and the second hook mechanism 320 are respectively hinged at opposite ends of the support frame 100. By rotating the first hook mechanism 310 and the second hook mechanism 320 relative to the main frame 110, the ends of the first hook mechanism 310 and the second hook mechanism 320 are moved closer to or farther from each other, thereby grabbing or releasing the empty pallet.

[0035] When in use, the device is installed on the robot through the connecting flange 130. After the device is moved to the position of the carton pallet under the drive of the robot, when there is a need to grab the carton stack, the suction cup swing rod 211 rotates to a state perpendicular to the main frame 110, and the buffer suction cup 212 is vacuumed through the air source control component. The robot drives the device to descend so that the buffer suction cup 212 contacts the carton stack for adsorption and grabbing. The buffer suction cup 212 can be a suction cup and a buffer rod connected to each other. The buffer rod has elastic force and can provide a buffer function for the suction cup to avoid damaging the surface of the carton stack. When there is a need to grab an empty pallet, the suction cup swing rod 211 rotates to a state close to parallel to the main frame 110 and moves to the center. After the carton stack grabbing assembly 200 is recovered, the robot drives the device down to the empty pallet grabbing position, and the first hook mechanism 310 and the second hook mechanism 320 are rotated relative to the main frame 110 to make the ends of the first hook mechanism 310 and the second hook mechanism 320 approach each other, thereby realizing the function of grabbing the empty pallet, and then the robot moves the grabbed empty pallet to a preset position, so that the ends of the first hook mechanism 310 and the second hook mechanism 320 are away from each other, thereby realizing the function of releasing the empty pallet.

[0036] The carton stack and empty pallet grabbing device of this embodiment integrates the functions of grabbing carton stacks and grabbing empty pallets in a unified device, eliminating the need for two groups of robots to carry front-end execution devices with different functions to work together, thereby reducing investment costs, and the system has a high degree of integration, and the various functions cooperate with each other to improve production efficiency. The use of automated equipment improves the degree of automation at the production site, thereby achieving the purpose of improving work efficiency, reducing labor input, and reducing the labor intensity of operators, with innovative layout and simple maintenance.

[0037] Furthermore, the first suction cup mechanism 210 also includes a suction cup rotating shaft 213 and a first driving mechanism. The suction cup rotating shaft 213 is rotatably connected to the main frame 110. The end of the suction cup swing rod 211 away from the buffer suction cup 212 is connected to the circumference of the suction cup rotating shaft 213. The first driving mechanism is used to drive the suction cup rotating shaft 213 to rotate. The suction cup rotating shaft 213 is provided to provide an installation base for the suction cup swing rod 211. A plurality of suction cup swing rods 211 can be fixed to the circumference of a suction cup rotating shaft 213. The end of each suction cup swing rod 211 is connected to a buffer suction cup 212. The suction cup rotating shaft 213 drives each suction cup swing rod 211 to rotate synchronously so that it extends out to absorb the carton stack or folds at the bottom of the main frame 110. In this embodiment, the number of suction cup swing rods 211 is 2, and the two suction cup swing rods 211 are symmetrically distributed with the connecting flange 130 axis as the center. Specifically, the first driving mechanism includes a suction cup control cylinder 214 and a suction cup connecting rod 215. The suction cup control cylinder 214 has a fixed end and a telescopic end. The fixed end of the suction cup control cylinder 214 is connected to the bottom of the adapter plate 120. The telescopic end of the suction cup control cylinder 214 is hinged to the suction cup connecting rod 215. One end of the suction cup connecting rod 215 away from the suction cup control cylinder 214 is circumferentially connected to the suction cup rotating shaft 213. The suction cup control cylinder 214 provides power to drive the suction cup rotating shaft 213 to rotate through the suction cup connecting rod 215, so as to realize the extension or recovery of the suction cup swing rod 211.

[0038] In some preferred embodiments, a through hole is formed at the end of the suction cup swing rod 211, and the through hole is adapted to the suction cup rotating shaft 213; a locking groove 216 is opened in the circumference of the through hole, and a locking screw 217 is arranged in the locking groove 216; the locking screw 217 is rotated to make the relative side of the locking groove 216 approach or move away, thereby locking or loosening the suction cup rotating shaft 213. Such a configuration is convenient for adjusting the position of each suction cup swing rod 211 on the suction cup rotating shaft 213, and the relative side of the locking groove 216 is moved away by turning the locking screw 217 to loosen the suction cup rotating shaft 213 locked inside the through hole, and then the suction cup swing rod 211 is moved to adjust the distance between each suction cup swing rod 211, so that it can adapt to the grabbing of various types and specifications of carton stacks, and is more practical.

[0039] An escape groove 111 is formed on the main frame 110, and the first suction cup mechanism 210 and the second suction cup mechanism 220 can be stored in the escape groove 111 by rotating and folding. Such a setting reserves more space for grabbing an empty pallet, has a compact structure, and saves space.

[0040] In this embodiment, the first hook mechanism 310 includes a hook shaft 311, a pallet hook 312 and a second driving mechanism. The hook shaft 311 is rotatably connected to the main frame 110. The two pallet hooks 312 are fixed at opposite ends of the hook shaft 311. The second driving mechanism is used to drive the hook shaft 311 to rotate. The second driving mechanism includes a pallet hook connecting rod 313 and a pallet hook control cylinder 314. The pallet hook control cylinder 314 has a fixed end and a telescopic end. The fixed end of the pallet hook control cylinder 314 is connected to the main frame 110. The telescopic end of the pallet hook control cylinder 314 is hinged to the pallet hook connecting rod 313. One end of the pallet hook connecting rod 313 away from the pallet hook control cylinder 314 is circumferentially connected to the hook shaft 311. The pallet hook control cylinder 314 provides power to drive the hook shaft 311 to rotate through the pallet hook connecting rod 313, so that the pallet hooks 312 connected to the two ends of the hook shaft 311 rotate.

[0041] The specific structure of the second hook mechanism 320 is consistent with that of the first hook mechanism 310 , which will not be described in detail here, and can be understood by those skilled in the art.

[0042] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes (e.g., changes in size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, use of materials, color, orientation, etc.) may be envisioned by those skilled in the art without actually departing from the scope and spirit of the claims.

[0043] Finally, it should be noted that the above-mentioned implementation mode is only a preferred embodiment of the present utility model, and cannot be used to limit the scope of protection of the present utility model. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present utility model shall fall within the scope of protection required by the present utility model.

Claims

1. A device for grabbing carton stacks and empty pallets, characterized in that: It includes a support frame, a carton stack grabbing component and an empty pallet grabbing component; The support frame serves as a connecting support; The carton stack grabbing assembly is installed at the bottom of the support frame, and the carton stack grabbing assembly includes a first suction cup mechanism, which includes a suction cup swing rod and a buffer suction cup. One end of the suction cup swing rod is rotatably connected to the support frame, and the first suction cup mechanism is folded to the bottom of the support frame by rotating the suction cup swing rod. The other end of the suction cup swing rod is connected to the buffer suction cup, and the buffer suction cup is used to adsorb or release the carton stack; The empty pallet grabbing assembly includes a first hook mechanism and a second hook mechanism, and the first hook mechanism and the second hook mechanism are respectively hinged at opposite ends of the support frame. The first hook mechanism and the second hook mechanism are rotated relative to the support frame to make the ends of the first hook mechanism and the second hook mechanism approach or move away from each other, thereby grabbing or releasing the empty pallet.

2. A carton stack and empty pallet grabbing device according to claim 1, characterized in that: The support frame includes a main frame, an adapter plate and a connecting flange; the top of the adapter plate is connected to the connecting flange, and the bottom of the adapter plate is connected to the top of the main frame; the connecting flange is used to install the device on a robot.

3. A carton stack and empty pallet grabbing device according to claim 2, characterized in that: The first suction cup mechanism also includes a suction cup shaft and a first driving mechanism. The suction cup shaft is rotatably connected to the main frame. The end of the suction cup swing arm away from the buffer suction cup is connected to the circumferential surface of the suction cup shaft. The first driving mechanism is used to drive the suction cup shaft to rotate.

4. A carton stack and empty pallet grabbing device according to claim 3, characterized in that: The first driving mechanism includes a suction cup control cylinder and a suction cup connecting rod. The suction cup control cylinder has a fixed end and a telescopic end. The fixed end of the suction cup control cylinder is connected to the bottom of the adapter plate, the telescopic end of the suction cup control cylinder is hinged to the suction cup connecting rod, and one end of the suction cup connecting rod away from the suction cup control cylinder is circumferentially connected to the suction cup rotating shaft.

5. A carton stack and empty pallet grabbing device according to claim 4, characterized in that: A through hole is formed at the end of the suction cup rocker arm, and the through hole is adapted to the suction cup rotating shaft; a locking groove is circumferentially opened in the through hole, and a locking screw is arranged in the locking groove; by rotating the locking screw, the locking groove is moved closer to or farther from the relative side, thereby locking or loosening the suction cup rotating shaft.

6. A carton stack and empty pallet grabbing device according to claim 2, characterized in that: An escape groove is formed on the main frame, and the escape groove is adapted to the first suction cup mechanism. The first suction cup mechanism can be stored in the escape groove by rotating and folding.

7. The carton stack and empty pallet grabbing device according to claim 3, characterized in that: It also includes a second suction cup mechanism, and the first suction cup mechanism and the second suction cup mechanism are respectively arranged on two opposite sides of the adapter plate.

8. The carton stack and empty pallet grabbing device according to claim 2, characterized in that: The first hook mechanism includes a hook shaft, a tray hook and a second driving mechanism, the hook shaft is rotatably connected to the main frame, the two tray hooks are fixed to opposite ends of the hook shaft, and the second driving mechanism is used to drive the hook shaft to rotate; The second driving mechanism includes a pallet hook connecting rod and a pallet hook control cylinder; the pallet hook control cylinder has a fixed end and a telescopic end, the fixed end of the pallet hook control cylinder is connected to the main frame, the telescopic end of the pallet hook control cylinder is hinged to the pallet hook connecting rod, and one end of the pallet hook connecting rod away from the pallet hook control cylinder is circumferentially connected to the hook rotating shaft.

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