Box body grabbing device

Abstract

The utility model discloses a box body grabbing device, and relates to the technical field of empty box body grabbing. The box body grabbing device comprises a transfer mechanism and a grabbing jig. The grabbing jig is arranged at the tail end of the transfer mechanism and driven by the transfer mechanism to be switched to a clamping position or a stacking position, and the grabbing jig comprises a clamping power piece and at least one clamping assembly driven by the clamping power piece to be opened and closed; the clamping assembly comprises two clamping jaws which can be relatively far away from or close to each other, and the clamping power piece drives the oppositely-arranged clamping jaws to be relatively close to each other until the clamping jaws clamp the side wall of the box body. In the specific using process of the box body grabbing device, automatic grabbing and transferring of box bodies can be achieved, stacking operation is completed, and working efficiency can be effectively improved; moreover, in the process of grabbing the box body, the side walls of the box body are clamped through the clamping jaws, and damage or deformation of the box body can be avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of empty box body grasping, and more specifically, to a box body grasping device. Background Art

[0002] Currently, for the problem of grasping and palletizing boxes, manual grasping operations are generally carried out. During the manual operation process, the number of boxes that can be grasped at one time is limited, the production efficiency is low, and the labor cost is high.

[0003] In addition, during the process of grasping the box body, the box body is generally clamped from the outer peripheral side. Since there is no support structure inside the box body, during the process of grasping the box body, if the grasping force is small, the box body is likely to fall during the grasping process. If the grasping force is large, the box body is likely to be damaged and deformed.

[0004] In summary, how to provide a grasping device that can improve production efficiency and avoid damaging the box body at the same time is an urgent problem to be solved by those skilled in the art at present. Summary of the Utility Model

[0005] In view of this, the purpose of the utility model is to provide a box body grasping device, which can realize the automatic grasping of the box body, and during the grasping process, the side wall position of the box body is clamped, which can avoid damage or deformation of the box body.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A box body grasping device for grasping a box body with an opening, the box body grasping device includes:

[0008] A transfer mechanism;

[0009] A grasping fixture, which is arranged at the end of the transfer mechanism and is driven by the transfer mechanism to switch to the clamping position or the palletizing position;

[0010] The grasping fixture includes a clamping power member and at least one clamping component driven by the clamping power member to open and close; the clamping component includes two clamping jaws that can move relatively away from or close to each other;

[0011] When the grasping fixture is in the clamping position, one of the two clamping jaws arranged oppositely in the clamping component extends into the box body from the opening of the box body;

[0012] The other of the two clamping jaws arranged oppositely in the clamping component is located outside the box body and is arranged opposite to the clamping jaw inside the box body with a layer of the side wall of the box body in between; or the other of the two clamping jaws arranged oppositely in the clamping component is located inside the adjacent box body;

[0013] The clamping power member drives the oppositely arranged jaws to move closer to each other until the side wall of the box body is clamped.

[0014] Optionally, a transfer frame is provided at the end of the transfer mechanism. The transfer frame includes a plurality of cross beams and longitudinal beams arranged perpendicular to each other. The gripping fixture is provided on the lower surface of the transfer frame, and the gripping fixture includes a plurality of the clamping assemblies;

[0015] The clamping assemblies are arranged along at least one of the cross beam and the longitudinal beam.

[0016] Optionally, the distance between adjacent clamping assemblies arranged in the same cross beam is adjustable; the distance between adjacent clamping assemblies arranged in the same longitudinal beam is adjustable;

[0017] and / or, the distance between adjacent cross beams is adjustable, and the distance between adjacent longitudinal beams is adjustable.

[0018] Optionally, the transfer frame is of a frame structure, and a quick-change joint for connecting with the transfer mechanism is provided on the upper surface of the frame structure.

[0019] Optionally, the jaws of the clamping assemblies are movably arranged along the cross beam of the transfer frame. The clamping assemblies are arranged in N rows and M columns, where both N and M are positive integers greater than or equal to 2; the jaws of all the clamping assemblies are driven by the clamping power member to act synchronously.

[0020] Optionally, it further includes a box body position adjuster and a lifting power member for driving the box body position adjuster to expand and contract between a first height position and a second height position. When the box body position adjuster is in the first height position, the box body position adjuster can extend into the space between adjacent box bodies to adjust the distance between adjacent box bodies; when the box body position adjuster is in the second height position, the lower end surface of the position adjuster is higher than the upper end surface of the jaws;

[0021] The box body position adjuster includes:

[0022] A lateral adjuster, which is movably arranged along the extension direction of the cross beam;

[0023] A longitudinal adjuster, which is movably arranged along the extension direction of the longitudinal beam.

[0024] Optionally, it further includes a position shooting member, a depth shooting member and an image processor. The position shooting member and the depth shooting member are both arranged on the lower surface of the transfer frame; the position shooting member and the depth shooting member are both signal-connected to the image processor;

[0025] The position photographing member is used to acquire first image information and send the first image information to the image processor, and the depth photographing member is used to acquire second image information and send the second image information to the image processor;

[0026] The image processor can obtain the clamping position of the box body according to the first image information, and the image processor can obtain the depth of the clamping jaw extending into the box body according to the second image information.

[0027] Optionally, the clamping jaw is a plate-like structure, and an anti-slip gasket is arranged on one side of the plate-like structure for contacting the box body.

[0028] Optionally, a pressure detecting member is arranged on one side of the clamping jaw for contacting the box body, and the pressure detecting member is used to detect the clamping pressure of the clamping jaw in real time.

[0029] Optionally, the transfer mechanism includes:

[0030] A base;

[0031] A first robotic arm, one end of which is rotatably connected to the base;

[0032] A second robotic arm, one end of which is rotatably connected to the other end of the first robotic arm;

[0033] The end of the robotic arm, which is rotatably connected to the other end of the second robotic arm;

[0034] The first robotic arm is rotatably arranged relative to the base about a first axis, the second robotic arm is rotatably arranged relative to the first robotic arm about a second axis, and the end of the robotic arm is rotatably arranged relative to the second robotic arm about a third axis. Any two of the first axis, the second axis, and the third axis are perpendicular to each other.

[0035] When using the box body grasping device provided by the present utility model, first, it is necessary to control the transfer mechanism to drive the grasping jig to move to the clamping position, and control the clamping power member to drive the clamping jaws of the clamping assembly to open, so that the clamping assembly corresponds to the box body to be clamped. At this time, some of the clamping jaws in the clamping assembly extend into the box body from the opening of the box body, and some other clamping jaws are located outside the box body and are arranged opposite to the clamping jaws in the box body with a side wall of the box body in between, or some other clamping jaws are located in an adjacent box body; then, control the clamping power member to drive the clamping jaws to close. After the opposite clamping jaws are closed, they just clamp the side wall of the box body. The transfer mechanism drives the grasping jig to move to the stacking position and places the clamped box body at a suitable position in the stacking position. The clamping power member controls the clamping jaws to open and release the box body. Control the transfer mechanism to drive the grasping jig to perform the next round of grasping again, and repeat in this way until the stacking of the box bodies is completed.

[0036] Compared with the prior art, during the specific use of the box gripping device provided by the present utility model, automatic gripping, transfer of the box can be realized, and the palletizing operation can be completed, which can effectively improve the working efficiency; moreover, during the process of gripping the box, the side wall of the box is gripped by the gripper, which can avoid damage or deformation of the box. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model 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 in the following description are only the embodiments of the present utility model, and for those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0038] Figure 1 It is a schematic structural diagram of a specific embodiment of the box gripping device provided by the present utility model;

[0039] Figure 2 is Figure 1 a side view schematic diagram of the box gripping device in

[0040] Figure 3 is Figure 1 a top view schematic diagram of the box gripping device in

[0041] Figure 4 It is a schematic structural diagram of a specific embodiment of the adapter bracket and the gripping fixture provided by the present utility model.

[0042] Figure 1 - Figure 4 in:

[0043] 100 is a transfer mechanism;

[0044] 110 is a base, 120 is a first robotic arm, 130 is a second robotic arm, 140 is the end of the robotic arm;

[0045] 200 is a gripping fixture;

[0046] 210 is a gripper, 220 is a clamping power component;

[0047] 300 is an adapter bracket;

[0048] 310 is an installation main body, 320 is a cross beam, 330 is a quick change joint;

[0049] 400 is a box. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] 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 embodiments. Based on the embodiments in 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.

[0051] The core of the present utility model is to provide a box body grasping device, which can realize the automatic grasping of the box body, and grasp the side wall position of the box body 400 during the grasping process, so as to avoid damage or deformation of the box body.

[0052] This specific embodiment discloses a box body grasping device for grasping a box body 400 with an opening. The box body grasping device includes a transfer mechanism 100 and a grasping fixture 200. The grasping fixture 200 is arranged at the end of the transfer mechanism 100 and is driven by the transfer mechanism 100 to switch to the clamping position or the stacking position. The grasping fixture 200 includes a clamping power member 220 and at least one clamping component driven by the clamping power member 220 to open and close; the clamping component includes two clamping jaws 210 that can move relatively away from or close to each other. When the grasping fixture 200 is in the clamping position, one of the two relatively arranged clamping jaws 210 in the clamping component extends into the box body 400 from the opening of the box body 400, and the other of the two relatively arranged clamping jaws 210 in the clamping component is located outside the box body 400 and is arranged opposite to the clamping jaw in the box body 400 with a layer of the side wall of the box body in between; or the other of the two relatively arranged clamping jaws 210 in the clamping component is located in an adjacent box body 400 and is arranged opposite to the clamping jaw in the box body 400 with two layers of the side wall of the box body in between; the clamping power member 220 drives the relatively arranged clamping jaws 210 to move relatively closer until the side wall of the box body 400 is clamped.

[0053] The box body 400 mentioned in this specific embodiment can be a box body with an opening, or other box body 400 structures with an opening that meet the requirements, which is specifically determined according to the actual situation and will not be elaborated here.

[0054] It should be noted that when the grasping fixture 200 in this specific embodiment clamps the box body 400, a single clamping assembly can clamp only one box body 400. In this case, one of the two oppositely arranged jaws 210 in the clamping assembly extends into the box body 400 through the opening of the box body 400, and the other of the two oppositely arranged jaws 210 in the clamping assembly is located outside the box body 400 and is arranged opposite to the jaw 210 extending into the box body 400 with only one layer of the side wall of the box body 400 in between. By controlling the jaws 210 to close, the jaw 210 extending into the box body 400 and the jaw 210 outside the box body 400 cooperate to clamp the side wall of the box body 400, and the clamping of a single box body 400 can be achieved. In this case, according to the different sizes of the box body 400, the number of clamping assemblies for clamping the same box body 400 can be selected.

[0055] As Figure 4 shown, three clamping assemblies are arranged in one row, and the moving direction of the jaws 210 is as Figure 4 indicated by the arrow in the figure. When the size of the box body 400 is small, a pair of jaws 210 of each clamping assembly can clamp one box body. When the size of the box body 400 is large, two adjacent clamping assemblies can clamp the same box body 400 at the same time. Or, when the size of the box body 400 further increases, the clamping assemblies at both ends of the three clamping assemblies in the same row clamp the same box body 400 at the same time, and the middle clamping assembly is located inside the box body, which is determined according to the actual situation and will not be elaborated here.

[0056] In addition, when the size of the box body 400 is further reduced, in order to improve work efficiency, two oppositely arranged jaws in a single clamping assembly can clamp two box bodies 400 at the same time. As Figure 1 shown, one of the two oppositely arranged jaws 210 in the clamping assembly extends into one of the box bodies 400 through the opening of the box body 400, and the other jaw 210 extends into the adjacent other box body 400. The two jaws 210 are arranged opposite to each other with two layers of the side wall of the box body in between. By controlling the jaws 210 to close, the clamping of two adjacent box bodies can be achieved.

[0057] Or, a single clamping assembly can clamp three box bodies 400. The circumferential direction of the box body 400 has an included angle surface of 120 degrees, and this included angle surface refers to the included angle between two adjacent side surfaces; and the included angle surfaces among the three box bodies 400 are made to fit together. The same clamping assembly includes three jaws 210, and all the jaws 210 are divided into three parts. The three jaws 210 extend into three different box bodies 400 respectively. By controlling the jaws 210 to close and making the inner sides of the jaws 210 fit the inner sides of the included angle surfaces, the clamping of the three box bodies 400 at the same time can be achieved; of course, according to the different shapes of the box body 400, the same clamping assembly can also be used to clamp other numbers of box bodies 400, which is determined according to the actual situation and will not be elaborated here.

[0058] When using the box grasping device provided by this specific embodiment, first, it is necessary to control the transfer mechanism 100 to drive the grasping jig 200 to move to the clamping position, and control the clamping power member 220 to drive the jaws 210 of the clamping assembly to open, so that the clamping assembly corresponds to the box 400 to be clamped. At this time, one of the jaws 210 in the clamping assembly extends into the box 400 from the opening of the box 400, and the other jaw 210 is located outside the box 400 and is disposed opposite to the jaw 210 in the box 400 with a side wall of the box 400 in between, or the other jaw 210 is located in an adjacent box 400, and the two jaws are disposed opposite to each other with two side walls of the box 400 in between; then, control the clamping power member 220 to drive the jaws 210 to close. After the oppositely disposed jaws 210 are closed, they just clamp the side wall of the box 400. The transfer mechanism 100 drives the grasping jig 200 to move to the stacking position, and places the clamped box 400 at a suitable position in the stacking position. The clamping power member 220 controls the jaws 210 to open and release the box 400. Control the transfer mechanism 100 to drive the grasping jig 200 to perform the next round of grasping again, and repeat this way until the stacking of the boxes 400 is completed.

[0059] Compared with the prior art, the box grasping device provided by this specific embodiment can realize the automatic grasping, transfer of the box 400 and complete the stacking operation during the specific use process, which can effectively improve the work efficiency; and, during the process of grasping the box 400, by clamping the side wall of the box 400 with the jaws 210, damage or deformation of the box 400 can be avoided.

[0060] On the basis of the above embodiment, specifically, a transfer frame 300 can be provided at the end of the transfer mechanism 100. The transfer frame 300 is provided with an installation main body 310. A plurality of cross beams 320 and longitudinal beams 340 that are perpendicular to each other are provided on the installation main body 310. The lower surface of the transfer frame 300 is provided with the grasping jig 200. The grasping jig 200 includes a plurality of clamping assemblies; the clamping assemblies are arranged along at least one of the cross beams 320 and the longitudinal beams 340.

[0061] During the specific use process, the plurality of clamping assemblies can simultaneously clamp a plurality of boxes 400, and transfer the boxes 400 to the stacking position, which can effectively improve the transfer and stacking efficiency of the boxes 400.

[0062] Furthermore, considering that the sizes of different boxes 400 may be different, the distance between adjacent clamping assemblies in the same cross beam 320 can be made adjustable; or the distance between adjacent clamping assemblies in the same longitudinal beam 340 can be made adjustable; and / or, the distance between adjacent cross beams 320 and the distance between adjacent longitudinal beams 340 are both adjustable.

[0063] Specifically, multiple first mounting positions for mounting the clamping assemblies can be provided on the same cross beam 320. The clamping assemblies are mounted at different first mounting positions, and the distance between adjacent clamping assemblies can be adjusted by adjusting the distance between the first mounting positions. Alternatively, multiple second mounting positions for mounting the clamping assemblies can be provided on the same longitudinal beam 340, and the distance between adjacent clamping assemblies can be adjusted by adjusting the distance between the second mounting positions. In addition, the clamping assemblies can also be fixed to the cross beam 320 or the longitudinal beam 340 through a fastening structure. During actual use, by installing the fastening structure at different first mounting positions in the cross beam 320, the distance between adjacent clamping assemblies in the same cross beam 320 can be adjusted. By installing the fastening structure at different second mounting positions in the longitudinal beam 340, the distance between adjacent clamping assemblies in the same longitudinal beam 340 can be adjusted. By adjusting the distance between adjacent clamping assemblies and the number of clamping assemblies in the same cross beam 320 or the same longitudinal beam 340, it is possible to clamp boxes 400 of different sizes or different numbers of boxes 400.

[0064] The cross beam 320 can be slidably mounted on the mounting body 310 and locked to the mounting body 310 through a first locking member. By adjusting the locking position of the first locking member on the mounting body 310, the distance between adjacent cross beams 320 can be adjusted. The longitudinal beam 340 can be slidably mounted on the mounting body 310 and locked to the mounting body 310 through a second locking member. By adjusting the locking position of the second locking member on the mounting body 310, the distance between adjacent longitudinal beams 340 can be adjusted. Of course, the adjustment of the distance between adjacent cross beams 320 and the adjustment of the distance between adjacent longitudinal beams 340 can also be other adjustment methods, which are specifically determined according to the actual situation and will not be elaborated here.

[0065] Such as Figure 1 , Figure 4 As shown in the figure, the adapter frame 300 can be set as a frame structure built by aluminum profiles. A quick-change joint 330 for connecting with the transfer mechanism 100 is provided on the upper surface of the frame structure. The jaws 210 of the clamping assembly are movably arranged along the cross beam 320 of the adapter frame 300. The clamping assembly is provided with N rows and M columns, where both N and M are positive integers greater than or equal to 2. The jaws 210 of all clamping assemblies are driven by a clamping power member 220 to act synchronously.

[0066] Specifically, as Figure 4 shown in the figure, the cross beam 320 is a rod-shaped structure. The jaws 210 of the clamping assembly are sleeved on the cross beam 320 through a connecting plate and can move along the cross beam 320 under the drive of the clamping power member 220.

[0067] Specifically, the clamping power member 220 can be set as a clamping cylinder or a clamping motor or other structures that meet the requirements, which are specifically determined according to the actual situation.

[0068] During actual use, first, the box body 400 to be clamped is placed as required, and the transfer mechanism 100 drives the grasping fixture 200 to move to a position where the box body 400 can be clamped, so that different clamping components correspond to different box bodies 400. By controlling multiple clamping power components 220 to clamp synchronously, synchronous clamping of multiple box bodies 400 can be achieved, which is beneficial to improving work efficiency.

[0069] Furthermore, the box body grasping device may further include a box body position adjusting member and a lifting power member that drives the box body position adjusting member to expand and contract between a first height position and a second height position. When the box body position adjusting member is in the first height position, the box body position adjusting member can extend into the space between adjacent box bodies to adjust the distance between adjacent box bodies 400; when the box body position adjusting member is in the second height position, the lower end surface of the position adjusting member is higher than the upper end surface of the jaw 210. The box body position adjusting member includes: a lateral adjusting member that is movably provided along the extending direction of the cross beam 320; a longitudinal adjusting member that is movably provided along the extending direction of the longitudinal beam 340.

[0070] Specifically, a first sliding groove may be provided on the installation main body 310, and the lateral adjusting member is slidably provided in the first sliding groove. The extending direction of the first sliding groove is parallel to the extending direction of the cross beam 320; a second sliding groove is provided on the installation main body 310, and the longitudinal adjusting member is slidably provided in the second sliding groove. The extending direction of the second sliding groove is parallel to the extending direction of the longitudinal beam 340.

[0071] During actual use, before grasping the box body 400, multiple box bodies 400 are generally placed closely together. When the same clamping component needs to clamp a single box body 400, in order to provide a certain gap between adjacent box bodies 400 to allow the jaw 210 to extend, the box body position adjusting member can be controlled to descend to the first height position and extend into the position between adjacent box bodies 400, and the lateral adjusting member can be controlled to move laterally to drive the box body 400 to move, so that there is a certain gap between adjacent box bodies 400 laterally; alternatively, the longitudinal adjusting member can be controlled to move longitudinally to drive the box body 400 to move, so that there is a certain gap between adjacent box bodies 400 longitudinally. After the adjustment is completed, the box body position adjusting member is controlled to rise to the second height position to prevent the box body position adjusting member from affecting the clamping of the box body 400 by the jaw 210.

[0072] Alternatively, when it is necessary to adjust the gap between adjacent boxes 400 during the palletizing process, it can also be achieved through the box position adjuster; control the box position adjuster to descend to the first height position, extend into the position between adjacent boxes 400, and control the lateral adjuster to move laterally to drive the box 400 to move, so that there is a certain gap between adjacent boxes 400 laterally; it is also possible to control the longitudinal adjuster to move longitudinally to drive the box 400 to move, so that there is a certain gap between adjacent boxes 400 longitudinally. After the adjustment is completed, control the box position adjuster to rise to the second height position to prevent the box 400 position adjuster from affecting the clamping of the box 400 by the gripper 210.

[0073] Alternatively, the box 400 can also be pushed to move outside the box 400 through the box position adjuster, so that adjacent boxes 400 are in contact with each other, which is specifically determined according to the actual situation.

[0074] In this specific embodiment, by setting the box position adjuster, the distance between adjacent boxes 400 can be adjusted, so that there is a certain gap between adjacent boxes 400 or adjacent boxes 400 are in contact with each other, so as to meet the requirements during clamping the box or palletizing and improve the palletizing quality.

[0075] In a specific embodiment, the box gripping device further includes a position shooting member, a depth shooting member and an image processor. The position shooting member and the depth shooting member are both arranged on the lower surface of the adapter frame 300; the position shooting member and the depth shooting member are both signal-connected to the image processor; the position shooting member is used to obtain the first image information and send the first image information to the image processor, and the depth shooting member is used to obtain the second image information and send the second image information to the image processor; the image processor can obtain the gripping position of the box 400 according to the first image information, so as to facilitate controlling the transfer mechanism 100 to drive the gripping jig 200 to move to a suitable gripping position, and the image processor can obtain the depth of the gripper 210 extending into the box 400 according to the second image information to judge whether the gripper 210 extends to a suitable depth.

[0076] In this specific embodiment, through the first image information obtained by the position shooting member, the specific position of the box 400 can be obtained, so that the gripping jig 200 can accurately move to the position where the box 400 can be gripped, improving the accuracy of gripping the box 400; through the second image information obtained by the depth shooting member, the extending depth of the gripper 210 can be obtained to control the gripping position of the gripper 210 and achieve accurate gripping.

[0077] Specifically, the gripper 210 can be set as a plate-like structure, and an anti-slip gasket is arranged on the side of the plate-like structure that contacts the box 400 to increase the friction force of the gripper 210 when gripping the box 400 and prevent the box 400 from accidentally falling.

[0078] In addition, a pressure detection member can be provided on the side of the jaw 210 that is used to contact the box body 400. The pressure detection member is used to detect the clamping pressure of the jaw 210 in real time, so as to obtain the clamping force information of the jaw 210 in a timely manner. When the situation of loose clamping of the box body 400 occurs, it can be processed in a timely manner.

[0079] In a specific embodiment, the transfer mechanism 100 can include a base 110, a first robotic arm 120, a second robotic arm 130, and a robotic arm end 140; wherein, one end of the first robotic arm 120 is rotatably connected to the base 110; the other end of the first robotic arm 120 is rotatably connected to one end of the second robotic arm 130; the robotic arm end 140 is rotatably connected to the other end of the second robotic arm 130; the first robotic arm 120 is rotatably arranged relative to the base 110 around a first axis, the second robotic arm 130 is rotatably arranged relative to the first robotic arm 120 around a second axis, and the robotic arm end 140 is rotatably arranged relative to the second robotic arm 130 around a third axis. Any two of the first axis, the second axis, and the third axis can be perpendicular to each other.

[0080] During the actual use process, the transfer mechanism 100 drives the grasping jig 200 to achieve multi-axis movement and rotation, and realizes the precise displacement of the grasping jig 200.

[0081] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. Any combination method of all the embodiments provided by the present invention is within the protection scope of this invention, and will not be elaborated here.

[0082] The above has introduced the box body grasping device provided by the present invention in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A box body grasping device, used for grasping a box body (400) having an opening, characterized in that: The box body grabbing device comprises: Transfer mechanism (100); A grabbing jig (200), wherein the grabbing jig (200) is arranged at the end of the transfer mechanism (100) and is driven by the transfer mechanism (100) to switch to a gripping position or a stacking position; The grasping fixture (200) comprises a clamping power member (220) and at least one clamping assembly driven to open and close by the clamping power member (220); the clamping assembly comprises two clamping claws (210) that can be relatively separated or approached; When the grasping jig (200) is located at the clamping position, one of the two clamping claws (210) arranged opposite to each other in the clamping assembly extends into the box body (400) from the opening of the box body (400); The other of the two clamping jaws (210) arranged opposite to each other in the clamping assembly is located outside the box body (400) and is arranged opposite to the clamping jaw (210) inside the box body (400) with a layer of the side wall of the box body (400) between them; or the other of the two clamping jaws (210) arranged opposite to each other in the clamping assembly is located inside the adjacent box body (400); The clamping power member (220) drives the clamping claws (210) arranged opposite to each other to move relatively closer until they clamp the side wall of the box body (400).

2. The box grabbing device according to claim 1, characterized in that: An adapter frame (300) is provided at the end of the transfer mechanism (100), the adapter frame (300) comprises a plurality of cross beams (320) and longitudinal beams (340) arranged perpendicular to each other, the gripping fixture (200) is provided on the lower surface of the adapter frame (300), and the gripping fixture (200) comprises a plurality of the clamping assemblies; The clamping assembly is disposed along at least one of the cross beam (320) and the longitudinal beam (340).

3. The box grabbing device according to claim 2, characterized in that: The spacing between the adjacent clamping assemblies in the same crossbeam (320) is adjustable; the spacing between the adjacent clamping assemblies in the same longitudinal beam (340) is adjustable; And / or, the spacing between adjacent transverse beams (320) is adjustable, and the spacing between adjacent longitudinal beams (340) is adjustable.

4. The box grabbing device according to claim 2, characterized in that: The adapter frame (300) is a frame structure, and a quick-change joint (330) for connecting to the transfer mechanism (100) is provided on the upper surface of the frame structure.

5. The box grabbing device according to claim 2, characterized in that: The clamping jaws (210) are movably arranged along the crossbeam (320) of the adapter frame (300), and the clamping assembly is provided with N rows and M columns, wherein N and M are both positive integers greater than or equal to 2; the clamping jaws (210) of all the clamping assemblies are driven to move synchronously by the clamping power member (220).

6. The box grabbing device according to claim 5, characterized in that: It also comprises a box body position adjustment member and a lifting power member driving the box body position adjustment member to extend and retract between a first height position and a second height position; when the box body position adjustment member is at the first height position, the box body position adjustment member can extend between adjacent box bodies (400) to adjust the spacing between adjacent box bodies (400); When the box body position adjusting member is located at the second height position, the lower end surface of the box body position adjusting member is higher than the upper end surface of the clamping claw (210); The box position adjusting member comprises: A transverse adjustment member, movably arranged along the extension direction of the crossbeam (320); The longitudinal adjustment member is movably arranged along the extension direction of the longitudinal beam (340).

7. The box grabbing device according to claim 2, characterized in that: It also includes a position shooting component, a depth shooting component and an image processor, wherein the position shooting component and the depth shooting component are both arranged on the lower surface of the adapter frame (300); the position shooting component and the depth shooting component are both connected to the image processor by signal; The position shooting component is used to obtain first image information and send the first image information to the image processor, and the depth shooting component is used to obtain second image information and send the second image information to the image processor; The image processor can obtain the clamping position of the box body (400) based on the first image information, and the image processor can obtain the depth of the clamping claw (210) extending into the box body (400) based on the second image information.

8. The box grabbing device according to any one of claims 1 to 7, characterized in that: The clamping claw (210) is a plate-shaped structure, and a non-slip pad is provided on one side of the plate-shaped structure that is used for contacting the box body (400).

9. The box grabbing device according to any one of claims 1 to 7, characterized in that: A pressure detection component is provided on one side of the clamping jaw (210) for contacting the box body (400), and the pressure detection component is used to detect the clamping pressure of the clamping jaw (210) in real time.

Images