Stacking and carrying gripper for easy-open lids

Abstract

The utility model discloses an easy-open lid stacking and carrying gripper which comprises a lid body fixing mechanism, the lid body fixing mechanism comprises an adsorption mechanism and a restraining mechanism, the adsorption mechanism can be separably fixed to a lid body set, and the restraining mechanism can fix or release the lid body set in the first direction; the pallet grabbing mechanism comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are oppositely arranged, the first clamping arm and the second clamping arm can move relatively to clamp and fix a pallet, and the first clamping arm and the second clamping arm can clamp and fix the pallet through relative movement. Or the first clamping arm and the second clamping arm move oppositely to release the pallet. According to the easy-to-pull lid stacking and carrying gripper, due to the fact that the lid body fixing mechanism and the pallet grabbing mechanism are arranged, easy-to-pull lid bodies can be rapidly transferred, the easy-to-pull lid bodies can be stacked on the pallets, meanwhile, the pallets can be stacked, continuous stacking operation can be carried out, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to a handling device, in particular to a grab for palletizing and handling easy-open lids. Background Art

[0002] When producing easy-open lids, first, metal materials are stamped into basic lids by a basic lid punching machine, then curled by a curling machine and injected with glue by a glue injection machine, and then dried by a dryer. Then, these lids are further formed on a combined punching machine and the pull ring is riveted to the lid. The riveted easy-open lids are packed and stored in a long cylindrical paper bag, and then the packed easy-open lids are placed on a pallet for palletizing.

[0003] At present, most domestic easy-open lid manufacturers use manual packing and palletizing. Before palletizing, workers prepare an empty pallet in advance, then lay a winding film roll on it, and then neatly stack the strip-packed and bagged lids on the pallet one by one. When the empty pallet is full, a new empty pallet needs to be stacked on this pallet. Since the production rhythm of easy-open lids is very fast, workers not only need to place the lid groups during palletizing operations, but also need to bend down to pack, stack lids, and wind the film constantly, and also need to place pallets. Such work not only has a high labor intensity, but also has low efficiency, and the speed of palletizing and stacking pallets is difficult to match the production speed. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide a grab for palletizing and handling easy-open lids to solve the above problems.

[0005] To achieve the foregoing utility model purpose, the technical solutions adopted by the utility model include:

[0006] An embodiment of the utility model provides a grab for palletizing and handling easy-open lids, including: a lid fixing mechanism, including an adsorption mechanism and a constraint mechanism, the adsorption mechanism can be detachably fixed to a lid group, and the constraint mechanism can fix or release the lid group along a first direction;

[0007] A pallet grabbing mechanism, including a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are arranged oppositely, and the first clamping arm and the second clamping arm can move relatively to clamp and fix the pallet, or the first clamping arm and the second clamping arm move away from each other to release the pallet.

[0008] In a preferred embodiment, the grab for palletizing and handling easy-open lids includes a plurality of lid fixing mechanisms, and the plurality of lid fixing mechanisms are arranged in sequence along a second direction.

[0009] In a preferred embodiment, the lid fixing mechanism includes a plurality of adsorption mechanisms, and the plurality of adsorption mechanisms are arranged in sequence along a first direction.

[0010] In a preferred embodiment, the plurality of adsorption mechanisms are arranged in sequence along the second direction, and the second direction is arranged to intersect with the first direction.

[0011] In a preferred embodiment, the restraint mechanism includes a first restraint arm and a second restraint arm, the first restraint arm and the second restraint arm are arranged opposite to each other, and the first restraint arm and the second restraint arm can move relative to each other to clamp and fix the cover body group, or the first restraint arm and the second restraint arm move in opposite directions to release the cover body group.

[0012] In a preferred embodiment, the upper side wall of the first restraint arm and / or the second restraint arm is provided with an abutment member or has an abutment portion, and when the first restraint arm and the second restraint arm move relative to each other to clamp and fix the cover body group, the low structure member or the abutment portion abuts against one end of the cover body group.

[0013] In a preferred embodiment, a pull-open cover stacking and handling gripper further includes: a base plate body and a buffer mechanism, wherein the buffer mechanism includes an elastic component, wherein the elastic component is arranged between the base plate body and the cover body fixing mechanism, and the elastic component can drive the cover body fixing mechanism to move toward a side away from the base plate body.

[0014] In a preferred embodiment, the buffer mechanism also includes a telescopic member, at least a portion of which can freely extend and retract along a third direction, the telescopic member is arranged on the base plate body and the cover body fixing mechanism, the elastic member is sleeved on the outside of the telescopic member, and / or the elastic member and the telescopic member are arranged in sequence along the third direction.

[0015] In a preferred embodiment, the buffer mechanism further includes a first sensing mechanism, which is used at least to detect the distance between the cover fixing mechanism and the cover group to be grasped, or to detect the distance between the pallet grasping mechanism and the pallet.

[0016] In a preferred embodiment, the cover fixing mechanism further comprises a second sensing mechanism, and the second sensing mechanism is at least used to detect whether there is a cover group within a specified constraint interval of the cover fixing mechanism.

[0017] In a preferred embodiment, the first clamping arm includes a first transmission shaft and at least two first clamping members, the first clamping members are arranged on the first transmission shaft, and the first transmission shaft can be rotated under the drive of a third driving mechanism to enable the first clamping members to move between a storage position and a working position.

[0018] In a preferred embodiment, the second clamping arm includes a second transmission shaft and at least two second clamping members disposed on the second transmission shaft. The second transmission shaft is capable of rotating under the drive of a third driving mechanism, causing the second clamping members to move between a storage position and a working position.

[0019] In a preferred embodiment, the pallet gripping mechanism further includes a first driving wheel and a first driven wheel. The first driving wheel is capable of rotating under the drive of a third driving mechanism. The first driven wheel is meshed and connected to the first driving wheel, and the first driven wheel is disposed on the first transmission shaft.

[0020] In a preferred embodiment, the pallet gripping mechanism further includes a second driving wheel and a second driven wheel. The second driving wheel is capable of rotating under the drive of a third driving mechanism. The second driven wheel is meshed and connected to the second driving wheel, and the second driven wheel is disposed on the second transmission shaft.

[0021] In a preferred embodiment, the first clamping member has a first extension portion and a first locking portion. The first extension portion is connected to the first transmission shaft, and the first locking portion is disposed at an angle to the first extension portion. The first locking portion is at least used to contact a pallet, separating this pallet from its adjacent pallet or the placement surface.

[0022] In a preferred embodiment, the second clamping member has a second extension portion and a second locking portion. The second extension portion is connected to the second transmission shaft, and the second locking portion is disposed at an angle to the second extension portion. The second locking portion is at least used to contact a pallet, separating this pallet from its adjacent pallet or the placement surface.

[0023] Compared with the prior art, the advantages of the present utility model include: By providing a lid fixing mechanism and a pallet gripping mechanism, a pull tab stacking and handling gripper provided by the present utility model can not only quickly transfer the pull tab lids and stack the pull tab lids on the pallets, but also stack the pallets, thereby enabling continuous stacking operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 is a schematic structural diagram of a pull tab stacking and handling gripper provided by the present utility model;

[0026] Figure 2 The front view of a palletizing and handling gripper for easy-open lids provided by the present utility model;

[0027] Figure 3 The structural schematic diagram of another palletizing and handling gripper for easy-open lids provided by the present utility model;

[0028] Figure 4 The front view of another palletizing and handling gripper for easy-open lids provided by the present utility model;

[0029] Explanation of reference numerals:

[0030] 1. Adsorption mechanism;

[0031] 21. First restraint arm; 22. Second restraint arm; 23. Contact part;

[0032] 31. First clamping arm; 311. First transmission shaft; 312. First clamping member; 3121. First extension part; 3122. First locking part; 32. Second clamping arm; 321. Second transmission shaft; 322. Second clamping member; 33. First driving wheel; 34. First driven wheel;

[0033] 4. Bottom plate body;

[0034] 51. Elastic member; 52. Telescopic member;

[0035] 61. First sensing mechanism; 62. Second sensing mechanism; 63. Stacking mechanism;

[0036] 7. Lid group. Detailed implementation manners

[0037] In view of the deficiencies in the prior art, the inventors of this case have proposed the technical solution of the present utility model through long-term research and a large number of practices. The following will further explain the technical solution, its implementation process, principle, etc.

[0038] The following will further explain the technical solution, its implementation process, principle, etc. in combination with the accompanying drawings and specific implementation cases. Unless otherwise specified, the springs, torsion springs, laser distance sensors, etc. used in the embodiments of the present utility model are all components known to those skilled in the art, and they can all be obtained through commercial purchase. The specific structures and models thereof are not limited herein.

[0039] Embodiment 1

[0040] Please refer to Figures 1 - 4, A palletizing and handling gripper for easy-open lids includes a lid fixing mechanism and a pallet gripping mechanism. The lid fixing mechanism is at least used to restrain and fix a lid group 7, and after the palletizing and handling gripper for easy-open lids moves to a specified stacking position, it places the lid group 7 at the stacking position of the specified pallet and then releases the lid group 7 to complete the stacking work of the lid group 7. The lid group 7 can be understood as that after the production of easy-open lids, they usually form a regular columnar body in a stacked manner. Usually, in the production of easy-open lids, paper bags are used to bag the stacked easy-open lids to form the lid group 7. The lid group 7 can prevent the scattering of multiple easy-open lids, and at the same time, it is also convenient for handling the lids, effectively saving stacking space. When a certain number of lid groups 7 are stacked on the pallet, the pallet gripping mechanism is used to stack an empty pallet on the previous specified pallet and repeat the above steps to continue the palletizing work of the lids. The palletizing and handling gripper for easy-open lids provided by the present utility model can not only quickly transfer the easy-open lid bodies and stack them on the pallet, but also stack the pallets, so as to perform continuous palletizing operations and improve work efficiency.

[0041] Among them, the material of the easy-open lids in the lid group 7 is not limited, and it can be an iron easy-open lid, an aluminum easy-open lid or a plastic easy-open lid.

[0042] In a preferred embodiment, the fixing mechanism includes an adsorption mechanism 1 and a restraint mechanism. The restraint mechanism includes a first restraint arm 21 and a second restraint arm 22 arranged oppositely. During operation, the adsorption mechanism 1 can adsorb a lid group 7 on it. Specifically, the adsorption mechanism 1 can be a pneumatic adsorption device or a magnetic adsorption device. It can be understood that the adsorption mechanism 1 can adsorb a lid group 7 on it by means of pneumatic negative pressure, or can adsorb the easy-open lid body by a magnet or an electromagnet, so that a lid group 7 is fixed to the adsorption mechanism 1. More specifically, the plastic lids and aluminum lids can be adsorbed by means of pneumatic negative pressure, and the iron easy-open lids can be adsorbed and restrained by using a magnet or an electromagnet. The first restraint arm 21 and the second restraint arm 22 move relatively to clamp and fix the lid group 7 between them to prevent the lid group 7 from falling off during the transfer of the lids. When the palletizing and handling gripper for easy-open lids moves to a specified position, the adsorption mechanism 1 is separated from the lid group 7, and the first restraint arm 21 and the second restraint arm 22 move away from each other, so as to release the lid group 7 at the stacking position of the specified pallet.

[0043] Specifically, the first restraint arm 21 and the second restraint arm 22 can be arranged oppositely along the first direction or along the second direction. Please refer to Figure 1, the first direction may be the X-axis direction, and the second direction may be arranged to intersect the first direction. Preferably, the second direction is the Y-axis direction, and the X-axis and the Y-axis are perpendicularly arranged. When the cover body group 7 is fixed to the adsorption mechanism 1, the stacking arrangement direction of the cover body group 7 is the same as the X-axis direction. The first constraint arm 21 and the second constraint arm 22 move along the X-axis direction and respectively abut against both ends of the cover body group 7, so as to compress the cover body group 7 and reduce its occupied space. Among them, a abutting member may be provided on the first constraint arm 21 and / or the second constraint arm 22 or there is an abutting portion 23. When the first constraint arm 21 and the second constraint arm 22 clamp the cover body group 7, there are also curled edges provided around the cover body, and the abutting portion 23 can avoid the curled edges and abut against the cover body. Figure 1 Taking the example that there is an abutting portion 23 provided on the second constraint arm 22, the abutting portion 23 protrudes from the second constraint arm 22.

[0044] More specifically, a pop-top can stacking and handling gripper may include a plurality of cover body fixing mechanisms. The plurality of cover body fixing mechanisms may be arranged in sequence along the Y-axis direction, and a plurality of cover body groups 7 can be transported simultaneously in a single operation. A pop-top can stacking and handling gripper may also include a plurality of adsorption mechanisms 1. The plurality of adsorption mechanisms 1 may be arranged in sequence along the X-axis direction and / or the Y-axis direction. Preferably, the adsorption mechanisms 1 are arranged in sequence along the X-axis direction, that is, when the adsorption mechanisms 1 are adsorbed and fixed to the cover body group 7, the same cover body group 7 can be adsorbed and fixed by a plurality of adsorption mechanisms 1, so as to improve the adsorption strength, improve the adsorption stability, and reduce the risk of falling during transportation. Further, the first constraint arm 21 may be set to be fixed to facilitate positioning of the cover body group 7 through the first constraint arm 21. After the adsorption mechanism 1 adsorbs the cover body, the second constraint arm 22 can move along the X-axis direction under the drive of a driving mechanism, so that the first constraint arm 21 and the second constraint arm 22 move relative to each other to clamp the cover body. During this process, since one end of the cover body group 7 can be positioned through the first constraint arm 21, when clamping and fixing, the cover body will not have excessive displacement, reducing the possibility of the cover body detaching from the adsorption mechanism 1 and reducing the risk of the cover body falling and being misaligned.

[0045] Embodiment 2

[0046] Please refer to Figure 2 and Figure 4, which is a palletizing and handling gripper for easy-open lids provided in this embodiment. Its structure is basically similar to that of Embodiment 1, with the difference being that a palletizing and handling gripper for easy-open lids further includes a bottom plate body 4, a buffer mechanism, a first sensing mechanism 61, and a second sensing mechanism 62. Specifically, the lid fixing mechanism and the pallet gripping mechanism can be movably arranged on the bottom plate body 4, and the bottom plate body 4 can be connected to a robotic arm or other transfer device to change the position of the palletizing and handling gripper for easy-open lids provided in this embodiment. The buffer mechanism includes an elastic member 51 and a telescopic member 52. The elastic member 51 and the telescopic member 52 can be arranged between the bottom plate body 4 and the lid fixing mechanism, or can be arranged in sequence along the third direction, where the third direction can be the Z-axis direction.

[0047] When a palletizing and handling gripper for easy-open lids is working, it can first move above the strip-packed lids and then move along the Z-axis direction to shorten the distance between the adsorption mechanism 1 and the strip-packed lids. The adsorption mechanism 1 can then adsorb the strip-packed lids on it. When performing the above operations, there may be a situation where the adsorption mechanism 1 abuts against the strip-packed lids. When the adsorption mechanism 1 moves excessively towards the strip-packed lids, it may cause damage to the strip-packed lids. At this time, the telescopic member 52 and the elastic member 51 arranged between the bottom plate body 4 and the lid fixing mechanism will provide buffering. The elastic member 51 can be a spring. Preferably, the elastic member 51 can be a compression spring and a tension spring. At least part of the telescopic member 52 can freely expand and contract along the third direction. The elastic member 51 can be sleeved outside the telescopic member 52. When the adsorption mechanism 1 abuts excessively against the strip-packed lids, the elastic member 51 is compressed, thus avoiding hard contact between the adsorption mechanism 1 and the strip-packed lids. When the strip-packed lids leave their placement position, the elastic member 51 drives the lid fixing mechanism to move towards the side away from the bottom plate body 4 to reset.

[0048] Specifically, the first sensing mechanism 61 can be arranged on the bottom plate body 4 or on the lid fixing mechanism. The first sensing mechanism 61 can be a laser distance measuring sensor. The first sensing mechanism 61 can be used to detect the distance between the lid fixing mechanism and the lid group to be grabbed to avoid excessive collision between the adsorption mechanism 1 and the strip-shaped lids with lids. The first sensing mechanism 61 can also be used to detect the distance between the pallet gripping mechanism and the pallet. Due to processing errors in the processing of wooden pallets, it is very difficult to ensure the consistency of the height dimensions of the pallets. When multiple pallets are stacked together, the cumulative height error will be large, which has a great impact on the pallet gripping mechanism to grab the pallet. By using a laser sensor to detect the real-time distance from the pallet gripping mechanism to the pallet, the purpose of precise positioning can be achieved, effectively avoiding the risk of collision between the gripper and the pallet caused by the height difference of the pallet.

[0049] Specifically, the second sensing mechanism 62 can be arranged on the cover body fixing mechanism. It can be a laser distance measuring sensor and is at least used to detect whether there is a cover body group 7 within a specified constraint range of the cover body fixing mechanism. More specifically, the first constraint arm 21 and the adsorption mechanism 1 enclose the constraint space. The second sensing mechanism 62 can be connected to the adsorption mechanism 1 and the constraint mechanism. When it detects that there is a cover body group 7 within the constraint range, the adsorption mechanism 1 and the constraint mechanism can be activated to work for fixing the cover body group.

[0050] More specifically, the first clamping arm 31 and the second clamping arm 32 in the pallet gripping mechanism can rotate under the drive of a third driving mechanism. The third driving mechanism can be a rotary cylinder. The output end of the rotary cylinder is provided with a driving wheel, and the driving wheel is meshed and connected with a driven wheel. The driven wheel is arranged on the first clamping arm 31 and the second clamping arm 32. When the rotary cylinder is activated, the first clamping arm 31 and the second clamping arm 32 can rotate relatively to grip the pallet, or rotate away from each other to release the pallet.

[0051] Further, in a preferred embodiment, a stack pressing mechanism 63 is further arranged on the cover body fixing mechanism, and the stack pressing mechanism 63 can apply a squeezing force in the vertical direction. Specifically, the stack pressing mechanism 63 includes a telescopic cylinder. When the pallet gripping mechanism grips the pallet, the telescopic cylinder can extend and abut against the pallet to prevent the pallet from moving around during the movement. After the pallet is released, the compression cylinder can contract to avoid interfering with the work of fixing the cover body group.

[0052] In a preferred implementation scheme, the first clamping arm 31 includes a first transmission shaft 311, a first driving wheel 33, a first driven wheel 34, and at least two first clamping members 312. The first clamping members 312 and the first driven wheel 34 are arranged on the first transmission shaft 311. The third driving mechanism drives the first driving wheel 33 to rotate, and makes the first driven wheel 34 meshed and connected with the first driving wheel 33 rotate, so that the first clamping members 312 rotate between the storage position and the working position;

[0053] The second clamping arm 32 includes a second transmission shaft 321, a second driving wheel, a second driven wheel, and at least two second clamping members 322. The second clamping members 322 and the second driven wheel are arranged on the second transmission shaft 321. The third driving mechanism drives the second driving wheel to rotate, and makes the second driven wheel meshed and connected with the second driving wheel rotate, so that the second clamping members 322 rotate between the storage position and the working position. The "working" can be understood as Figure 3 and Figure 4In the state shown, the first clamping member 312 and the second clamping member 322 extend and move within a certain range to clamp or release the pallet. At this time, the first clamping member 312 and the second clamping member 322 are in the working position. As Figure 1 and Figure 2 In the state shown, the first clamping member 312 and the second clamping member 322 retract and do not participate in the work of clamping or releasing the pallet, and at the same time, they will not affect the adsorption and fixation work of the adsorption mechanism 1 and the cover body. At this time, the first clamping member 312 and the second clamping member 322 are in the storage position.

[0054] In a preferred embodiment, the first clamping members 312 are respectively arranged at both ends of the first transmission shaft 311. The first clamping member 312 has a first extension portion 3121 and a first locking portion 3122. The first extension portion 3121 is fixedly connected to the first transmission shaft 311. As Figure 3 shown, at least part of the first extension portion 3121 and the first locking portion 3122 can be arranged to extend in a specified direction. Specifically, the first locking portion 3122 is arranged to cross the first extension portion 3121. Preferably, the intersection of the first extension portion 3121 and the first locking portion 3122 is a perpendicular intersection. When the first clamping member 312 is in the working position, the first locking portion 3122 can contact the side or the bottom of the pallet.

[0055] The second clamping members 322 are respectively arranged at both ends of the second transmission shaft 321. The second clamping member 322 has a second extension portion and a second locking portion. The second extension portion is fixedly connected to the second transmission shaft 321. As Figure 3 shown, at least part of the second extension portion and the second locking portion can be arranged to extend in a specified direction. Specifically, the second locking portion is arranged to cross the second extension portion. Preferably, the intersection of the second extension portion and the second locking portion is a perpendicular intersection. When the second clamping member 322 is in the working position, the second locking portion can contact the side or the bottom of the pallet.

[0056] When a robotic arm or other transfer device moves, a kind of easy-open lid palletizing and handling gripper provided in this embodiment can not only quickly transfer the easy-open lids and stack the easy-open lids on the pallet, but also stack the pallets, so as to be able to perform continuous palletizing operations and improve work efficiency.

[0057] It should be understood that the above embodiments are only used to illustrate the technical concept and characteristics of the present invention, and the purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. A palletizing and handling gripper for easy-open lids, characterized in that: include: A cover body fixing mechanism comprises an adsorption mechanism (1) and a restraining mechanism, wherein the restraining mechanism comprises a first restraining arm (21) and a second restraining arm (22), wherein the first restraining arm (21) and the second restraining arm (22) are arranged opposite to each other, and the first restraining arm (21) and the second restraining arm (22) can move relative to each other to clamp and fix the cover body group (7), or the first restraining arm (21) and the second restraining arm (22) move in opposite directions to release the cover body group (7); The pallet grabbing mechanism comprises a first clamping arm (31) and a second clamping arm (32), wherein the first clamping arm (31) and the second clamping arm (32) are arranged opposite to each other, and the first clamping arm (31) and the second clamping arm (32) can move relative to each other to clamp and fix the pallet, or the first clamping arm (31) and the second clamping arm (32) can move away from each other to release the pallet.

2. The easy-open lid stacking and handling gripper according to claim 1, characterized in that: It comprises a plurality of cover fixing mechanisms, and the plurality of cover fixing mechanisms are arranged in sequence along the second direction.

3. The easy-open lid stacking and handling gripper according to claim 1, characterized in that: The cover fixing mechanism comprises a plurality of adsorption mechanisms (1), and the plurality of adsorption mechanisms (1) are arranged in sequence along a first direction; And / or, the plurality of adsorption mechanisms (1) are arranged in sequence along a second direction, and the second direction is arranged to intersect with the first direction.

4. The easy-open lid stacking and handling gripper according to claim 1, characterized in that: The upper side wall of the first restraining arm (21) and / or the second restraining arm (22) is provided with an abutment member or has an abutment portion (23); when the first restraining arm (21) and the second restraining arm (22) move relative to each other to clamp and fix the cover body group (7), the abutment member or the abutment portion (23) abuts against one end of the cover body group.

5. The easy-open lid stacking and handling gripper according to claim 1, characterized in that: Also includes: A base plate body (4) and a buffer mechanism, wherein the buffer mechanism comprises an elastic component (51), wherein the elastic component (51) is arranged between the base plate body (4) and the cover body fixing mechanism, and wherein the elastic component (51) is capable of driving the cover body fixing mechanism to move towards a side away from the base plate body (4).

6. The easy-open lid stacking and handling gripper according to claim 5, characterized in that: The buffer mechanism further comprises a telescopic member (52), at least a portion of which is capable of freely telescoping along a third direction, the telescopic member (52) being arranged between the base plate body (4) and the cover body fixing mechanism, the elastic member (51) being sleeved on the outside of the telescopic member (52), and / or the elastic member (51) and the telescopic member (52) being arranged in sequence along the third direction.

7. The easy-open lid stacking and handling gripper according to claim 5, characterized in that: The buffer mechanism further comprises a first sensing mechanism (61), the first sensing mechanism (61) being used at least to detect the distance between the cover fixing mechanism and the cover group to be grasped, or to detect the distance between the pallet grasping mechanism and the pallet; And / or, the cover fixing mechanism further comprises a second sensing mechanism (62), wherein the second sensing mechanism (62) is at least used to detect whether there is a cover group (7) within a specified constraint interval of the cover fixing mechanism.

8. The easy-open lid stacking and handling gripper according to claim 1, characterized in that: The first clamping arm (31) comprises a first transmission shaft (311) and at least two first clamping members (312); the first clamping members (312) are arranged on the first transmission shaft (311); the first transmission shaft (311) can rotate under the driving of a third driving mechanism, so that the first clamping members (312) move between a storage position and a working position; And / or, the second clamping arm (32) comprises a second transmission shaft (321) and at least two second clamping members (322), the second clamping members (322) being arranged on the second transmission shaft (321), and the second transmission shaft (321) being capable of rotating under the drive of a third driving mechanism, thereby enabling the second clamping members (322) to move between a storage position and a working position.

9. The easy-open lid stacking and handling gripper according to claim 8, characterized in that: The pallet grabbing mechanism further comprises a first driving wheel (33) and a first driven wheel (34); the first driving wheel (33) can rotate under the driving of a third driving mechanism; the first driven wheel (34) is meshingly connected with the first driving wheel (33); the first driven wheel (34) is arranged on the first transmission shaft (311); And / or, the pallet grabbing mechanism further comprises a second driving wheel and a second driven wheel, the second driving wheel can rotate under the drive of a third driving mechanism, the second driven wheel is meshingly connected with the second driving wheel, and the second driven wheel is arranged on the second transmission shaft (321).

10. The easy-open lid stacking and handling gripper according to claim 8, characterized in that: The first clamping member (312) comprises a first extension portion (3121) and a first locking portion (3122), the first extension portion (3121) being connected to the first transmission shaft, the first locking portion (3122) being arranged at an angle to the first extension portion (3121), and the first locking portion (3122) being used to at least contact a pallet to separate the pallet from an adjacent pallet or a placement surface; And / or, the second clamping member (322) has a second extension portion and a second locking portion, the second extension portion is connected to the second transmission shaft, the second locking portion is arranged at an angle to the second extension portion, and the second locking portion is used to contact at least one pallet to separate the pallet from its adjacent pallet or placement surface.

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