Blueberry small box encasement gripper

Abstract

The utility model relates to the field of grippers, in particular to a small blueberry box boxing gripper which comprises a flange plate used for being connected with a robot. The connecting column and the connecting sleeve are arranged below the flange plate, limiting grooves are formed in the outer surface of the connecting sleeve, limiting mechanisms are arranged in the connecting column and the connecting sleeve, and the limiting mechanisms are used for adjusting the connecting column. According to the small blueberry box encasement gripper, through the arrangement of the suction cup assembly, a plurality of small blueberry boxes can be gripped at the same time, the suction cup heads are connected together through the air joint head and the air pump pipeline, the air pump is used for adsorbing the suction cup heads, and therefore the multiple small blueberry boxes can be gripped at the same time, and during gripping, the multiple suction cup heads can grip one small blueberry box at the same time; according to the small blueberry box grabbing device, shaking generated when small blueberry boxes are grabbed can be reduced, so that the small blueberry boxes are grabbed and placed rapidly, the structure is simple, practicability is high, meanwhile, the material carrying efficiency is improved, and the production cost is reduced.

Description

Technical Field

[0001] The utility model relates to the field of grippers, in particular to a gripper for packing small blueberry boxes. Background Art

[0002] With the increasing development of agricultural technology in my country, the demand for blueberries and the automated production of blueberries are continuously increasing. Automated blueberry sorting, including weighing and visual inspection, impacts product packaging and quality. Small boxes are a common packaging method for blueberries during packaging and transportation. These boxes are typically made of cardboard, plastic, or other biodegradable materials to protect the blueberries from damage and provide easy access for consumers. During boxing, individual robotic grippers place the blueberry boxes into each box.

[0003] In the existing blueberry packing process, blueberry boxes are placed in each box by a single mechanical gripper. This mechanical gripper method not only seriously slows down the production rhythm, but also increases production costs and reduces corporate profits, which is not conducive to the use of small boxes for blueberry packing.

[0004] Therefore, it is necessary to invent a blueberry box packing gripper to solve the above problems. Utility Model Content

[0005] The purpose of the utility model is to provide a blueberry small box packing gripper, which is connected to the air pump pipeline through an air joint head, and uses the air pump to adsorb the suction cup head, so as to realize the simultaneous grabbing of multiple small blueberry boxes. When grabbing, multiple suction cup heads grab a small blueberry box at the same time, which can reduce the shaking of the small blueberry box during grabbing, so as to quickly realize the grabbing and placement of the small blueberry box. Such a setting is not only simple in structure and practical, but also improves the efficiency of material handling and reduces production costs, so as to solve the problem proposed in the above background technology that in the existing blueberry packing process, the blueberry boxes are all placed in each box by a single mechanical gripper, and this mechanical gripper method not only seriously slows down the production rhythm, but also increases the production cost and reduces the company's profits, which is not conducive to the use of blueberry small box packing.

[0006] In order to achieve the above-mentioned object, the present utility model provides the following technical solutions: a blueberry small box packing gripper, comprising a flange for connecting to a robot;

[0007] The connecting column and the connecting sleeve are arranged below the flange. The outer surface of the connecting sleeve is provided with a limiting groove. The connecting column and the connecting sleeve are provided with a limiting mechanism inside. The limiting mechanism is used to adjust the connecting column. A connecting plate is fixedly connected to the bottom of the connecting sleeve.

[0008] The suction cup components are all arranged inside the connecting plate and are used to absorb the small boxes of blueberries.

[0009] Preferably, the limiting mechanism includes a movable rod, which is movably installed inside one side of the connecting column, the outside of the movable rod is fixedly connected to a top block, one end of the movable rod is fixedly connected to a limiting block, and one side of the limiting block is fixedly connected to a pull ring.

[0010] Preferably, a spring is provided on one side of the top block and outside the movable rod, and the spring is located inside the connecting column.

[0011] Preferably, the limiting block and the limiting groove opened on one side of the connecting sleeve are square, and the limiting groove is used in conjunction with the limiting block.

[0012] Preferably, the suction cup assembly includes a suction cup connecting rod, the upper end of the suction cup connecting rod is fixedly connected to an air joint head, and the lower end of the suction cup connecting rod is fixedly provided with a suction cup head.

[0013] Preferably, the external thread of the suction cup connecting rod is connected with a first nut and a second nut, and the suction cup connecting rod is arranged around the inside of the connecting plate.

[0014] In the above technical solution, the technical effects and advantages provided by the utility model are:

[0015] 1. Through the setting of the suction cup assembly, multiple small blueberry boxes can be grabbed at the same time. The air joint head is connected to the air pump pipe, and the air pump is used to adsorb the suction cup head, so that multiple small blueberry boxes can be grabbed at the same time. When grabbing, multiple suction cup heads grab a small blueberry box at the same time, which can reduce the shaking of the small blueberry box during grabbing, thereby quickly grabbing and placing the small blueberry box. This setting is not only simple in structure and highly practical, but also improves the efficiency of material handling and reduces production costs.

[0016] 2. Through the arrangement of the connecting column, connecting sleeve, limiting groove and limiting mechanism, the length of the connecting plate and the suction cup assembly can be adjusted according to the position where the small blueberry box needs to be grabbed. By pulling the pull ring, the limiting block is driven out of the limiting groove outside the connecting sleeve, and then the pull ring is moved to drive the entire connecting column to be telescopically adjusted in the connecting sleeve. When the appropriate length is adjusted, the pull ring is released and the movable rod on one side and the external spring rebound setting are used to rebound the limiting block and insert it into the limiting groove outside the connecting sleeve for limiting and fixing. This method can be adjusted according to the situation of grabbing the small blueberry box on site. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the connecting column and connecting sleeve structure of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the limiting mechanism of the utility model;

[0021] Figure 4 This is a schematic structural diagram of the suction cup assembly of the present utility model;

[0022] Figure 5 This is a schematic diagram of the suction cup connecting rod structure of the present utility model.

[0023] Description of reference numerals:

[0024] 1. Flange; 2. Connecting column; 3. Connecting sleeve; 4. Limiting groove; 5. Limiting mechanism; 501. Movable rod; 502. Ejector block; 503. Spring; 504. Limiting block; 505. Pull ring; 6. Connecting plate; 7. Suction cup assembly; 701. Suction cup connecting rod; 702. First nut; 703. Second nut; 704. Air joint head; 705. Suction cup head. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0026] The utility model provides Figure 1-5 The illustrated gripper for packing small blueberry boxes includes a flange 1 for connecting to a robot;

[0027] The connecting column 2 and the connecting sleeve 3 are arranged below the flange 1. The outer surface of the connecting sleeve 3 is provided with a limiting groove 4. The connecting column 2 and the connecting sleeve 3 are provided with a limiting mechanism 5 inside. The limiting mechanism 5 is used to adjust the connecting column 2. A connecting plate 6 is fixedly connected to the bottom of the connecting sleeve 3.

[0028] The suction cup assemblies 7 are all arranged inside the connecting plate 6 and are used to absorb small boxes of blueberries. They are connected to the air pump pipeline through the air joint head 704, and the air pump is used to absorb the suction cup head 705, so as to realize the simultaneous grabbing of multiple small blueberry boxes. When grabbing, multiple suction cup heads 705 grab a small blueberry box at the same time, which can reduce the shaking of the small blueberry box during grabbing, thereby quickly realizing the grabbing and placement of the small blueberry box. Such a setting is not only simple in structure and highly practical, but also improves the efficiency of material handling and reduces production costs.

[0029] like Figure 1 、 Figure 2 and Figure 3 As shown, the limiting mechanism 5 includes a movable rod 501, which is movably installed inside one side of the connecting column 2. The outside of the movable rod 501 is fixedly connected to a top block 502, one end of the movable rod 501 is fixedly connected to a limiting block 504, and one side of the limiting block 504 is fixedly connected to a pull ring 505. By pulling the pull ring 505, the limiting block 504 is driven to disengage from the limiting groove 4 outside the connecting sleeve 3, and then the pull ring 505 is moved to drive the entire connecting column 2 to telescope and adjust in the connecting sleeve 3.

[0030] like Figure 2 and Figure 3 As shown, a spring 503 is provided on one side of the top block 502 and the outside of the movable rod 501. The spring 503 is located inside the connecting column 2. After the connecting column 2 is adjusted to a suitable length in the connecting sleeve 3, the pull ring 505 is loosened and the movable rod 501 on one side and the external spring 503 are used to rebound, and the limit block 504 is rebounded and inserted into the limit groove 4 outside the connecting sleeve 3 for limit fixing.

[0031] like Figure 2 and Figure 3 As shown, the limit block 504 and the limit groove 4 opened on one side of the connecting sleeve 3 are square-shaped, and the limit groove 4 is used in conjunction with the limit block 504. The limit groove 4 opened on one side of the connecting sleeve 3 is square-shaped and matches the limit block 504, so that the limit block 504 is inserted into the limit groove 4 opened on one side of the connecting sleeve 3, so that the connecting column 2 can be fixedly limited in the connecting sleeve 3.

[0032] like Figure 1 、 Figure 4 and Figure 5 As shown, the suction cup assembly 7 includes a suction cup connecting rod 701, the upper end of the suction cup connecting rod 701 is fixedly connected to an air joint head 704, and the lower end of the suction cup connecting rod 701 is fixedly provided with a suction cup head 705. The air joint head 704 is connected to the air pump connecting pipe, and adsorption is performed through the air pump, thereby realizing simultaneous grabbing of multiple small blueberry boxes. When grabbing, multiple suction cup heads 705 grab a small blueberry box at the same time.

[0033] like Figure 4 and Figure 5 As shown, the external thread of the suction cup connecting rod 701 is connected with the first nut 702 and the second nut 703, and the suction cup connecting rod 701 is arranged around the inside of the connecting plate 6. The suction cup connecting rod 701 is inserted into the inside of the connecting plate 6, and the first nut 702 and the second nut 703 on the upper and lower outsides of the suction cup connecting rod 701 are used to rotate on the external thread of the suction cup connecting rod 701, so that the entire suction cup assembly 7 is fixedly installed inside the connecting plate 6.

[0034] The working principle of this utility model is as follows: first, the flange 1 is threadedly connected to the robot arm, and then the distance between the connecting plate 6 and the flange 1 is adjusted according to the situation of the blueberry box to be grabbed, and the limit block 504 is driven to disengage from the limit groove 4 outside the connecting sleeve 3 by pulling the pull ring 505, and then the pull ring 505 is moved to drive the entire connecting column 2 to telescope in the connecting sleeve 3. When it is adjusted to the appropriate length, the pull ring 505 is released and the movable rod 501 on one side and the spring 503 on the outside are used to rebound and insert the limit block 504 into the limit groove 4 outside the connecting sleeve 3 for fixed position. When the length is adjusted, multiple air bags above the connecting plate 6 are pulled out of the way. The joint 704 is connected to the external air pump pipeline, and then the entire connecting plate 6 and the suction cup assembly 7 are moved above the blueberry box by the robot arm. Then the external air pump switch is turned on for adsorption, so that multiple suction cup heads 705 grab a small blueberry box at the same time. This not only reduces the shaking of the small blueberry box during grabbing, but also quickly realizes the grabbing and placement of the small blueberry box. Then the grabbed blueberry box is placed in the packaging box by the robot arm, and then the external air pump switch is turned off to release the blueberry box. Then, the next group of blueberry boxes are continued to be grabbed through the previous steps. In this way, the use process of the blueberry box packing gripper is completed.

[0035] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A blueberry small box packing gripper, characterized by: It includes a flange (1) for connecting to a robot; The connecting column (2) and the connecting sleeve (3) are arranged below the flange (1); the outer surface of the connecting sleeve (3) is provided with a limiting groove (4); the interior of the connecting column (2) and the connecting sleeve (3) is provided with a limiting mechanism (5); the limiting mechanism (5) is used to adjust the connecting column (2); and a connecting plate (6) is fixedly connected to the bottom of the connecting sleeve (3); The suction cup components (7) are all arranged inside the connecting plate (6) and are used to absorb the small boxes of blueberries.

2. The blueberry box packing gripper according to claim 1, characterized in that: The limiting mechanism (5) comprises a movable rod (501), the movable rod (501) being movably mounted inside one side of the connecting column (2), the outside of the movable rod (501) being fixedly connected to a top block (502), one end of the movable rod (501) being fixedly connected to a limiting block (504), and one side of the limiting block (504) being fixedly connected to a pull ring (505).

3. The blueberry small box packing gripper according to claim 2, characterized in that: A spring (503) is provided on one side of the top block (502) and outside the movable rod (501), and the spring (503) is located inside the connecting column (2).

4. The blueberry box packing gripper according to claim 2, characterized in that: The limiting block (504) and the limiting groove (4) opened on one side of the connecting sleeve (3) are arranged in a square shape, and the limiting groove (4) and the limiting block (504) are used in conjunction with each other.

5. The blueberry box packing gripper according to claim 1, characterized in that: The suction cup assembly (7) comprises a suction cup connecting rod (701), the upper end of the suction cup connecting rod (701) is fixedly connected to an air joint head (704), and the lower end of the suction cup connecting rod (701) is fixedly provided with a suction cup head (705).

6. The blueberry box packing gripper according to claim 5, characterized in that: The external thread of the suction cup connecting rod (701) is connected with a first nut (702) and a second nut (703), and the suction cup connecting rod (701) is arranged around the inside of the connecting plate (6).

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