Automatic clamping device for small-size workpiece packaging box

Abstract

The utility model discloses an automatic clamping device for small-size workpiece packing boxes, which comprises a robot arm, a workpiece clamp, a visual camera and an automatic packing box clamping device, the automatic packing box clamping device comprises a mounting plate, cylinders and pneumatic clamping jaws, the cylinders are arranged on two sides of the mounting plate, two ends of each cylinder are mounted on a cylinder head seat and a cylinder tail seat, and the pneumatic clamping jaws are mounted on the mounting plate. The air cylinder head seat and the air cylinder tail seat are installed on the two guide sliding blocks, the two guide sliding blocks slide on the guide sliding rail, the guide sliding rail is fixed to the installation plate, the air cylinder is connected with the pneumatic clamping jaw, and the pneumatic clamping jaw is used for grabbing packaging boxes. According to the automatic clamping device for the packaging box, the air cylinder is adopted as a power source, the clamping force of the air cylinder has a certain flexible characteristic, the magnitude and action buffering of the clamping force can be adjusted according to needs, the air cylinder is creatively used as the power source and also used as spring buffering, and two purposes are achieved at one time; according to the automatic clamping device for the packaging boxes, the double-clamping-jaw structural design is adopted, and the accuracy of grabbing and stacking of the packaging boxes can be greatly improved.

Description

Technical Field

[0001] The utility model relates to an automatic clamping device, in particular to an automatic clamping device for small-sized workpiece packaging boxes. Background Art

[0002] Small-sized workpieces include the rollers of bearings, small cylinders, cones, etc. Their sizes are not large, and small boxes are needed for the transfer, storage or transportation during the manufacturing process.

[0003] Taking the cylindrical rollers in current bearings as an example, the current production method is still intermittent. That is, the inner and outer rings of the bearings are in one production process, and the bearing rollers are in another independent production process. The rollers need to be packaged and temporarily stored or transferred in small boxes.

[0004] Small boxes are generally made of plastic, with low local strength. They deform severely when filled. General plastic boxes are usually used, which are not conducive to automatic grasping and stacking operations. In addition, due to the low strength of plastic boxes, they are easily deformed during automatic grasping, which is not conducive to automatic grasping and stacking of boxes, and manual operation is required.

[0005] Since there are many sizes and shape specifications of rollers, and there are also many specifications of plastic boxes without standardization. After a plastic box is filled, only manual operation can take out the plastic box and then complete the stacking operation between plastic boxes. This is not conducive to management and cannot perform automatic stacking operations, and the labor intensity of manual operation is too high.

[0006] Plastic boxes are prone to aging and becoming brittle during long-term use and are easily damaged during the transfer process, requiring regular replacement, resulting in waste. Summary of the Invention

[0007] In order to solve the problems of plastic box recognition and grasping, the utility model provides an automatic clamping device for small-sized workpiece packaging boxes.

[0008] The utility model provides the following technical solutions:

[0009] An automatic clamping device for small-sized workpiece packaging boxes includes a robot arm, a workpiece fixture, a vision camera and a packaging box automatic clamping device. The packaging box automatic clamping device includes a mounting plate, a cylinder, and a pneumatic gripper. The cylinders are arranged on both sides of the mounting plate. The two ends of the cylinder are installed on the cylinder head seat and the cylinder tail seat. The cylinder head seat and the cylinder tail seat are installed on two guiding sliders. The two guiding sliders slide on the guiding rail. The guiding rail is fixed on the mounting plate. The cylinder is connected to the pneumatic gripper, and the pneumatic gripper is used to grasp the packaging box.

[0010] Further, a gear-rack synchronization mechanism is provided below the cylinder. The gear-rack synchronization mechanism includes a synchronization gear and synchronization racks. The synchronization racks are arranged on both sides of the synchronization gear, and the opposite ends of the two synchronization racks are respectively close to the cylinder head seat and the cylinder tail seat.

[0011] Further, the front and rear ends of the cylinder are connected to an electromagnetic valve, and the electromagnetic valve controls the cylinder by controlling the air inlet of the cylinder.

[0012] Further, holes are provided at the four corners of the packaging box. The cross-sectional shape of the holes is L-shaped, and multiple hollow structures and reinforcing ribs are provided on the side of the packaging box.

[0013] Further, a stacking stop is formed on the side of the packaging box.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0015] Based on a standardized packaging box, an automated packaging box picking and placing fixture device is designed, which can automatically identify the position and stacking height of empty packaging boxes and automatically complete the palletizing operation of the packaging boxes.

[0016] The packaging box automatic clamping device of the present application uses a cylinder as the power source. On the one hand, the plastic packaging box is light in weight and does not require a large clamping force. At the same time, the clamping force of the cylinder has a certain flexible characteristic, and the size of the clamping force and the action buffer can be adjusted according to needs. Creatively, the cylinder is used as both the power source and the spring buffer.

[0017] The packaging box automatic clamping device of the present application adopts a double-jaw structure design. The two pneumatic clamping devices act simultaneously to ensure that the two jaws of each pneumatic jaw device can act synchronously, ensuring that the central position is always unique when picking up the packaging box, and can greatly improve the accuracy of grasping and stacking the packaging box. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic structural diagram of the present utility model.

[0019] Figure 2 It is an overall view of the packaging box automatic clamping device of the present utility model.

[0020] Figure 3 It is an enlarged view of the packaging box automatic clamping device of the present utility model.

[0021] Figure 4 It is a schematic structural diagram of the packaging box of the present utility model.

[0022] Figure 5 It is a front view of the packaging box of the present utility model.

[0023] Figure 6This is the top view of the packaging box of the present utility model.

[0024] Figure 7 is the sectional view taken along the Figure 5 A-A direction in

[0025] In the figure: 1. Robot arm; 2. Workpiece fixture; 3. Vision camera; 4. Automatic clamping device for packaging box; 5. Packaging box; 6. Solenoid valve;

[0026] 41. Mounting plate, 42. Cylinder, 43. Pneumatic gripper, 44. Cylinder head seat, 45. Cylinder tail seat, 46. Guide slider, 47. Guide rail, 48. Synchronous gear, 49. Synchronous rack.

[0027] 51. Hole, 52. Hollow structure, 53. Reinforcing rib, 54. Stacking stop. Embodiment

[0028] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0029] Please refer to Figures 1 - 3 , an automatic clamping device for a small-sized workpiece packaging box of the present utility model, including a robot arm 1, a workpiece fixture 2, a vision camera 3, and an automatic clamping device 4 for the packaging box. The workpiece fixture 2, the vision camera 3, and the automatic clamping device 4 for the packaging box are installed on the robot arm 1. The workpiece fixture or the automatic clamping device for the packaging box can be used as needed.

[0030] The automatic clamping device for the packaging box is designed specifically for the packaging box and can perfectly match the grasping feature structure of the packaging box.

[0031] The automatic clamping device 4 for the packaging box includes a mounting plate 41, a cylinder 42, and a pneumatic gripper 43. The cylinders 42 are arranged on both sides of the mounting plate 41. The two ends of the cylinder 42 are installed on the cylinder head seat 44 and the cylinder tail seat 45. The cylinder head seat 44 and the cylinder tail seat 45 are installed on two guide sliders 46. The two guide sliders 46 slide on the guide rail 47. The guide rail 47 is fixed on the mounting plate 41. The cylinder 42 is connected to the pneumatic gripper 43.

[0032] A gear-rack synchronization mechanism is arranged below the cylinder 42. The gear-rack synchronization mechanism includes a synchronous gear 48 and a synchronous rack 49. The synchronous racks 49 are arranged on both sides of the synchronous gear 48. The opposite ends of the two synchronous racks 49 are respectively close to the cylinder head seat 44 and the cylinder tail seat 45.

[0033] The front and rear ends of the cylinder 42 are connected to the solenoid valve 6, and the solenoid valve 6 controls the cylinder by controlling the air inlet of the cylinder.

[0034] The automatic clamping device for the packaging box adopts a double-drive method, with a pneumatic gripper arranged on each side. It can clamp the packaging box synchronously to ensure the clamping stability. The pneumatic grippers on both sides are independently controlled and independently supplied with air, which can ensure the action stability and reliability. Each pneumatic gripper is equipped with a set of linear slide rail guiding mechanism and a rack and pinion synchronization mechanism to ensure the consistency of the gripper action.

[0035] Figures 4 - 7 As shown, holes 51 are provided at the four corners of the packaging box 5. The cross-sectional shape of the holes 51 is L-shaped, and the gripper can grasp the L-shaped characteristic holes; multiple hollow structures 52 and reinforcing ribs 53 are provided on the side of the packaging box 5.

[0036] A stacking stop 54 is also formed on the side of the packaging box 5.

[0037] The packaging box has an increased wall thickness, hollow and reinforcing rib designs, which can significantly improve the strength of the packaging box without increasing the weight, avoid deformation, and at the same time set 4 L-shaped clamping feature hole structures, which are convenient for the gripper to automatically find and align for clamping, ensuring the stability of the automatic grasping and stacking actions. The packaging box stop is provided with a guiding chamfer structure, which can improve the fault tolerance of the stacking process.

[0038] On the basis of the standardization of the packaging box, the structural design of the packaging box is optimized. On the one hand, the strength of the packaging box is greatly increased, avoiding deformation during grasping and also avoiding local deformation after the workpiece is full. On the other hand, characteristic structures for automatic grasping are set on the packaging box, which is convenient for automatic identification and grasping. Moreover, a bayonet structure for convenient and quick stacking is set on the packaging box. The stacking has a certain degree of fault tolerance and is more stable after stacking.

[0039] Working process:

[0040] 1) Visual scanning

[0041] A. The vision camera finds the accurate positions of the empty packaging box and the target stacked packaging box. Whether it is an empty packaging box or a target packaging box to be stacked, there may be some deviations in the positioning progress. To ensure the reliability of grasping and stacking, a vision camera is configured to confirm the position visually and can repeatedly confirm whether the grasping is successful and whether the stacking is successful through vision, increasing the closed-loop effect of the automatic operation of the system.

[0042] B. By setting a unique feature pattern with a fixed position on the packaging box, the recognition accuracy and efficiency of the vision system can be improved, avoiding interference from other matters during operation, and enhancing the stability and reliability of the vision system.

[0043] 2) Packaging box

[0044] A. Glass fiber is added to the plastic formula of the packaging box, which can greatly improve the strength and toughness of the packaging box.

[0045] B. The packaging box is added with reinforcing ribs and hollow structures, which can reduce cost investment, improve the service life of the packaging box and reduce deformation.

[0046] 3) Automatic clamping device

[0047] A. The automatic clamping device can perform visual scanning automatically at fixed points through the PLC.

[0048] B. The PLC can automatically record the current stacking layers of empty packaging boxes and target stacked packaging boxes according to the size and quantity of the packaging boxes input into the system.

[0049] C. The PLC can control the pneumatic grippers on both sides to open and close synchronously at the same time, so as to realize the clamping and putting-down actions of the packaging box, and can automatically judge the success or failure of the clamping and putting-down actions according to the sensors on the automatic clamping device, and can automatically form a closed loop.

[0050] Based on the standardized packaging box, an automated packaging box picking and placing fixture device is designed, which can automatically identify the position and stacking height of the empty packaging box, automatically complete the depalletizing operation of the packaging box, pick the empty packaging box in place through the automated fixture device, and can automatically identify the position and stacking height of the packaging box that has been filled with workpieces, and automatically stack the empty packaging box to the correct position to automatically complete the palletizing of the packaging box.

[0051] The automatic clamping device for the packaging box of the present application is equipped with a vision camera, which can specify the robot to find the positions of the empty packaging box and the packaging box to be stacked, and can perform action verification to ensure that what needs to be taken away has been taken away and what needs to be stacked has been completed stacking, forming a closed loop.

[0052] The automatic clamping device for the packaging box of the present application uses a cylinder as the power source. On the one hand, the plastic packaging box is light in weight and does not require much clamping force. At the same time, the clamping force of the cylinder has certain flexible characteristics, and the clamping force size and action buffer can be adjusted according to needs. Creatively, the cylinder is used both as the power source and as a spring buffer, killing two birds with one stone.

[0053] The automatic clamping device for the packaging box of the present application adopts a double-gripper structure design. The two groups of pneumatic clamping devices act simultaneously, and each group of pneumatic clamping devices is equipped with a synchronization mechanism to ensure that the two grippers of each group of pneumatic gripper devices can act synchronously, ensuring that the central position is always unique when picking up the packaging box, and can greatly improve the accuracy of grasping and stacking the packaging box.

[0054] The two pneumatic clamping devices of the automatic clamping device for the packaging box of the present application are both controlled by independent control valves and supplied with air independently, so as to avoid interference caused by unstable air pressure during operation.

[0055] The clamping jaws of the automatic clamping device for the packaging box of the present application are made of high-strength special steel, with high strength, good toughness, not easy to deform, not easy to break, long service life, and high grasping accuracy.

[0056] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic clamping device for a small-size workpiece packaging box, characterized in that: The invention comprises a robot arm (1), a workpiece fixture (2), a visual camera (3) and an automatic clamping device for a packaging box (4). The automatic clamping device for a packaging box (4) comprises a mounting plate (41), a cylinder (42) and a pneumatic clamping claw (43). The cylinder (42) is arranged on both sides of the mounting plate (41). Both ends of the cylinder (42) are mounted on a cylinder head seat (44) and a cylinder tail seat (45). The cylinder head seat (44) and the cylinder tail seat (45) are mounted on two guide slides (46). The two guide slides (46) slide on a guide rail (47). The guide rail (47) is fixed on the mounting plate (41). The cylinder (42) is connected to the pneumatic clamping claw (43). The pneumatic clamping claw (43) is used to grasp the packaging box (5).

2. The automatic clamping device for a small-size workpiece packaging box according to claim 1, characterized in that: A gear rack synchronization mechanism is arranged below the cylinder (42), the gear rack synchronization mechanism comprising a synchronization gear (48) and a synchronization rack (49), synchronization racks (49) are arranged on both sides of the synchronization gear (48), and opposite ends of the two synchronization racks (49) are respectively close to the cylinder head seat (44) and the cylinder tail seat (45).

3. The automatic clamping device for a small-size workpiece packaging box according to claim 1, characterized in that: The front and rear ends of the cylinder (42) are connected to a solenoid valve (6), and the solenoid valve (6) controls the cylinder by controlling the air inlet of the cylinder.

4. The automatic clamping device for a small-size workpiece packaging box according to claim 1, characterized in that: Holes (51) are provided at the four corners of the packaging box (5), and the cross-sectional shape of the hole (51) is L-shaped. The side of the packaging box (5) is provided with a plurality of hollow structures (52) and reinforcing ribs (53).

5. The automatic clamping device for a small-size workpiece packaging box according to claim 1, characterized in that: A stacking stop (54) is also formed on the side of the packaging box (5).

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