Insertion needle type carton grabbing mechanism and carrying device

Abstract

The utility model discloses a pin type carton grabbing mechanism which comprises a supporting frame and pin assemblies, the pin assemblies are oppositely arranged on the two sides of the supporting frame correspondingly, the pin assemblies can move along the supporting frame, be folded inwards or unfolded outwards and correspondingly clamp or loosen a packaging box, detachable mounting plates are arranged on the pin assemblies, and the pin assemblies are arranged on the supporting frame. According to the carton grabbing device, corresponding adjustment can be conducted according to cartons with different widths, universality is high, the suction cup assemblies and the inserting needle assemblies are matched to grab the cartons, grabbing is firm and reliable, stability is high, and the situation that the cartons fall off due to infirm grabbing can be effectively avoided.

Description

Technical Field

[0001] This application relates to the technical field of carton grasping, and particularly relates to a pin-type carton grasping mechanism and a handling device. Background Art

[0002] Bundles of cartons, usually 30 - 50 cartons in a bundle, are tied together with zip ties. The traditional method is to carry them manually, which is not only time-consuming and laborious, but also has low efficiency; for example Figure 1 , in the existing carton grasping device for bundles, a pallet 1c is inserted from the bottom of the carton to lift it, and multiple suction cups 1b on a frame 1a are used to adsorb and fix it to achieve grasping of the carton. However, in this structure, the pallet 1c can only be inserted to the bottom of the carton and cannot be inserted into other positions for linear support and fixation for handling. Moreover, the pallet is relatively thick, and when the pallet 1c is inserted into the bottom of the carton, it is very easy to damage the carton. Utility Model Content

[0003] This application provides a pin-type carton grasping mechanism to solve the problem that the existing grasping device is easy to damage the carton, and adopts the following technical solutions:

[0004] The pin-type carton grasping mechanism includes a support frame and a pin assembly. The pin assemblies are respectively arranged on both sides of the support frame opposite to each other, and the pin assemblies can move along the support frame, move inwards to close or outwards to open, corresponding to clamping or releasing the packaging box.

[0005] Preferably, the pin assembly includes a slide plate, several pins, and a power device for driving the slide plate to move. The slide plate is slidably connected to the support frame, and the pins are vertically arranged inside the mounting plate.

[0006] The technical effect is that: the pin assembly can clamp the carton from both sides of the carton, and the pins can be inserted into the gaps inside the carton or the bottom of the carton and other positions to fix the carton. The grasping is firm and reliable, with high stability, which can effectively avoid the carton falling due to insecure grasping, and the volume is relatively small, and the grasping is more flexible.

[0007] Preferably, a mounting plate is detachably connected to the slide plate, and the pins are connected to the mounting plate.

[0008] The technical effect is that: different lengths of mounting plates can be replaced to adapt to grasping cartons of different widths, with higher versatility.

[0009] Preferably, it further includes a suction cup assembly, and the suction cup assembly is arranged at the bottom of the support frame and between the two side pin assemblies.

[0010] The technical effect is that: the suction cup and the pins are used in cooperation to grasp the carton, with high stability, which can further improve the reliability of grasping.

[0011] Preferably, the sucker assembly includes a support plate and a plurality of suckers, and the suckers are arranged at the bottom of the support plate.

[0012] Preferably, an adjusting mechanism is further included, and the adjusting mechanism is arranged between the support frame and the support plate and can adjust the height of the suckers in the z-axis direction.

[0013] Its technical effect is that: the height of the suckers can be adjusted according to cartons of different thicknesses to increase the thickness range of the grabbed cartons and further improve its versatility.

[0014] Preferably, the insertion pins are arranged at the same horizontal height.

[0015] Its technical effect is that: supporting at the same horizontal height can reduce the damage to the cartons.

[0016] Preferably, a vacuum pumping device is further arranged on the support frame, and a pipeline connection is arranged between the vacuum pumping device and the suckers.

[0017] A handling device includes the above-mentioned insertion pin type carton grabbing mechanism and a robotic arm assembly. The end of the robotic arm assembly is connected to the support frame and is used to drive the insertion pin type carton grabbing mechanism to move in three-dimensional space.

[0018] Its technical effect is that: the cartons grabbed by the insertion pin type carton grabbing mechanism can be moved and transported in three-dimensional space.

[0019] The beneficial effects of this application are as follows:

[0020] 1) The pallet used in the prior art usually has a relatively large thickness and width and is only suitable for lifting from the bottom of a bundle of cartons. If lifted from other positions except the bottom, it will cause relatively serious damage to the cartons; the insertion pins of this application have sharp heads and can be inserted from the bottom of a bundle of cartons, or from the gap between any two adjacent cartons, or even any position of any carton to fix the bundle of cartons without damaging the cartons;

[0021] 2) By closing or opening the insertion pin assembly, the grabbing and releasing of the cartons are realized. The insertion pins are inserted into the gaps between the cartons from both sides or the bottom for fixation, causing less damage to the cartons. The cartons can be grabbed at any position, the grabbing is more reliable, the stability is higher, and it can be applicable to cartons tied with one or more straps. The overall volume is relatively small and the clamping is more flexible. Description of the Drawings

[0022] Figure 1 is a schematic diagram of the prior art structure;

[0023] Figure 2is the front view of this application;

[0024] Figure 3 is the three-dimensional schematic diagram of this application;

[0025] Figure 4 is this application Figure 2 partial enlarged view at position A in;

[0026] Figure 5 is the three-dimensional schematic diagram of the handling device of this application.

[0027] In the figure:

[0028] 1. Handling device, 1a. Frame, 1b. Suction cup, 1c. Pallet, 11. Robotic arm assembly, 12. Gripping mechanism, 120. Power device, 121. Support frame, 122. Pin insertion assembly, 1221. Slide plate, 1222. Pin, 123. Suction cup assembly, 1231. Support plate, 1232. Suction cup, 124. Mounting plate. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings of this application. Obviously, the described embodiments of this application are only partial embodiments of this application, rather than all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0030] Combined with Figures 2 to 4 , further illustrate this application. The pin-type carton gripping mechanism includes a support frame 121 and a pin insertion assembly 122. The pin insertion assemblies 122 are respectively arranged on both sides of the support frame 121 opposite to each other. The pin insertion assembly 122 can move along the support frame 121, close inwards or open outwards, corresponding to clamping or releasing the packing box. It can realize the gripping of bundled cartons and can be applicable to cartons tied with one or more straps.

[0031] Combined with Figure 3, the pin assembly 122 includes a slide plate 1221, a plurality of pins 1222, and a power device 120 for driving the movement of the slide plate 1221. The slide plate 1221 is slidably connected to the support frame 121, and the pins 1222 are vertically arranged inside the slide plate 1221. Among them, the power device 120 can be a cylinder. In this embodiment, there are at least two cylinders, which independently drive the pin assemblies 122 on both sides of the support frame 121; the slide plate 1221 and the support frame 121 can be slidably connected through a guide rail and a slider; in some embodiments, a bidirectional lead screw can also be used to synchronously move the pin assemblies 122 on both sides, moving closer to the inside or away from the outside; in this embodiment, the pins 1222 are arranged at the same horizontal height, which can effectively reduce the damage to the cardboard box and at the same time grasp more firmly; the pins 1222 have sharp heads, which can be inserted into the gaps inside the cardboard box or the bottom of the cardboard box to fix the cardboard box, and the grasping is firm, reliable and highly stable, which can effectively avoid the cardboard box falling due to insecure grasping.

[0032] Compared with the prior art, the grasping mechanism of the present application can grasp any position of the cardboard box, can be inserted into the bottom of the cardboard box, the gap between the cardboard box and the cardboard box support or the gap of the cardboard box from both sides to fix the cardboard box for handling, is not easy to damage the cardboard box, and the overall volume of the grasping mechanism itself is relatively small compared with the existing tray type, and the grasping is more flexible.

[0033] Combined with Figure 4 , in some embodiments, a mounting plate 124 is detachably connected to the slide plate 1221, and the pins 1222 are connected to the mounting plate 124; among them, the mounting plate 124 can be connected to the slide plate 1221 through fasteners, and the mounting plate 124 is arranged inside the slide plate 1221. At this time, the pins 1222 are vertically arranged on the mounting plate 124. Different lengths of mounting plates 124 can be replaced according to cardboard boxes of different widths, and the installation and disassembly are convenient, which can adapt to grasping cardboard boxes of different widths and has higher versatility.

[0034] Combined with Figure 3 , a suction cup assembly 123 is further included. The suction cup assembly 123 is arranged at the bottom of the support frame 121 and between the pin assemblies 122 on both sides. The suction cup assembly 123 includes a support plate 1231 and a plurality of suction cups 1232, and the suction cups 1232 are arranged at the bottom of the support plate 1231; the suction cups 1232 and the pins 1222 are used in cooperation to grasp the cardboard box, and the stability is higher, which can further improve the reliability of grasping.

[0035] In an embodiment not shown, an adjustment mechanism is further included. The adjustment mechanism is disposed between the support frame 121 and the support plate 1231 and can adjust the height of the suction cup 1232 in the z-axis direction. When gripping a cardboard box, the suction cup assembly 123 is adjusted in the z-axis direction according to the thickness of the cardboard box. Among them, the adjustment mechanism can be a cylinder, and the movement of the suction cup assembly 123 is adjusted by the telescopic movement of the cylinder. Thus, the height of the suction cup 1232 can be adjusted according to cardboard boxes of different thicknesses, so as to increase the thickness range of the gripped cardboard boxes and further improve its versatility.

[0036] A vacuum pumping device is further included. The vacuum pumping device is disposed on the support frame 121. A pipeline connection is provided between the vacuum pumping device and the suction cup 1232. By pumping the air in the suction cup 1232 to form a negative pressure, the cardboard box is adsorbed and gripped.

[0037] This application further provides a handling device, including the above-mentioned pin-type cardboard box gripping mechanism 12 and a robotic arm assembly 11. The end of the robotic arm assembly 11 is connected to the support frame 121 and is used to drive the pin-type cardboard box gripping mechanism to move in three-dimensional space. Among them, the robotic arm assembly 11 can be a gantry robotic arm (cartesian robotic arm) or an articulated robotic arm, etc., which can move the cardboard box gripped by the pin-type cardboard box gripping mechanism 12 in three-dimensional space for transportation, thereby replacing manual handling of the cardboard box.

Claims

1. Pin-type carton grabbing mechanism, characterized by: It comprises a support frame and a pin assembly, wherein the pin assemblies are respectively arranged on both sides of the support frame and are arranged opposite to each other. The pin assembly can move along the support frame, fold inward or open outward, and clamp or release the packaging box accordingly.

2. The pin-type carton grabbing mechanism according to claim 1, characterized in that: The pin assembly comprises a slide plate, a plurality of pins, and a power device for driving the slide plate to move. The slide plate is slidably connected to the support frame, and the pins are vertically arranged on the inner side of the mounting plate.

3. The pin-type carton grabbing mechanism according to claim 2, characterized in that: The slide plate is detachably connected with a mounting plate, and the pin is connected to the mounting plate.

4. The pin-type carton grabbing mechanism according to claim 2, characterized in that: It also includes a suction cup assembly, which is arranged at the bottom of the support frame and between the pin assemblies on both sides.

5. The pin-type carton grabbing mechanism according to claim 4, characterized in that: The suction cup assembly comprises a support plate and a plurality of suction cups, and the suction cups are arranged at the bottom of the support plate.

6. The pin-type carton grabbing mechanism according to claim 5, characterized in that: It also includes an adjustment mechanism, which is arranged between the support frame and the support plate and can adjust the height of the suction cup along the z-axis direction.

7. The pin-type carton grabbing mechanism according to any one of claims 2 to 6, characterized in that: The pins are all arranged at the same horizontal height.

8. The pin-type carton grabbing mechanism according to claim 4, characterized in that: The support frame is also provided with a vacuum pumping device, and a pipeline is provided between the vacuum pumping device and the suction cup.

9. A handling device, characterized in that: It comprises the pin-type carton grabbing mechanism as described in any one of claims 1 to 8, and a mechanical arm assembly, wherein the end of the mechanical arm assembly is connected to the support frame and is used to drive the pin-type carton grabbing mechanism to move in three-dimensional space.

Images