Gripper assembly

Abstract

The utility model discloses a gripper assembly which comprises a supporting piece, a driving unit installed on the supporting piece and a plurality of gripper units movably arranged in the length direction of the supporting piece, and every two adjacent gripper units are in transmission connection to form a telescopic gripper part in the length direction of the supporting piece. The gripper unit located at one end of the gripper part is fixedly connected with the supporting piece, and the gripper unit located at the other end of the gripper part is connected with the driving unit and suitable for being driven by the driving unit to do reciprocating motion along the supporting piece. The distance between the grabbed materials can be automatically adjusted in the material transferring process, different material distances can be adapted, the automatic material transferring device is applied to a box filling machine and can be simultaneously adapted to the material distances on a conveying line and after box filling, an array assembly does not need to be independently arranged, the equipment cost is saved, and meanwhile the box filling efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic packaging, in particular to a gripper assembly. Background Art

[0002] Gripper assemblies are end effectors used for material transfer and are commonly used in various automated equipment, such as case packers, to move incoming materials into incoming empty cases. Because materials on conveyor lines are often spaced far apart, and after packing, they are almost completely separated, incoming materials must be realigned before being boxed and transferred by the gripper assembly. This approach not only requires additional realignment components but also requires the conveyor line to briefly stop, which somewhat impacts overall boxing efficiency. Utility Model Content

[0003] The purpose of the utility model is to address the shortcomings of the existing technology and propose a gripper assembly that can automatically adjust the spacing between grasped materials during material transfer and adapt to different material spacings. When used in a cartoning machine, it can adapt to the material spacing on the conveyor line and after cartoning at the same time, without the need to set up a separate row of components, saving equipment costs while improving cartoning efficiency.

[0004] The technical solution to achieve the purpose of this utility model is:

[0005] A gripper assembly includes a support member, a drive unit installed on the support member, and multiple gripper units movably arranged along the length direction of the support member. Adjacent gripper units are transmission-connected to form a gripper portion that is retractable along the length direction of the support member. The gripper unit at one end of the gripper portion is fixedly connected to the support member, and the gripper unit at the other end is connected to the drive unit and is suitable for reciprocating movement along the support member under the drive unit.

[0006] Furthermore, the support member is a profile frame, the bottom of the profile frame is fixedly connected to a guide rail, and a plurality of sliders are slidably fitted on the guide rail, the gripping unit is fixedly connected to the corresponding sliders, and a fixed block is fixedly connected between the slider at one end of the gripping part and the profile frame, and the slider at the other end is connected to the output end of the driving unit.

[0007] Furthermore, a shrinkage plate is connected between two adjacent sliders, one end of the shrinkage plate is provided with a connecting hole, and the other end is provided with a waist-shaped hole extending along the length direction of the support member. The two adjacent sliders are respectively fixed with screws and connecting pins that pass through the connecting hole and the waist-shaped hole, and the connecting pin is clearance-matched with the waist-shaped hole.

[0008] Furthermore, at least two connection holes are provided along the length direction of the support member.

[0009] Furthermore, a connecting piece is fixed on the slider, and a plurality of mounting screw holes are opened on the connecting piece along the length direction of the support member. The screws and connecting pins are screwed into different mounting screw holes to adjust the initial spacing between adjacent sliders.

[0010] Furthermore, two adjacent shrinkage plates are staggeredly arranged on both sides of the slider.

[0011] Furthermore, the support member is a connecting plate, and a double guide rod assembly is fixedly suspended in parallel at the bottom of the connecting plate. A plurality of moving blocks equal in number to the gripper units are slidingly provided on the double guide rod assembly. The gripper units are fixedly connected to the corresponding moving blocks. The moving block at one end of the gripper part is fixedly connected to the double guide rod assembly, and the moving block at the other end is connected to the output end of the drive unit.

[0012] Furthermore, a scissor-fork connection assembly is provided between the connection plate and the double guide rod assembly, and the moving blocks are respectively fixedly connected to corresponding central hinge points on the scissor-fork connection assembly.

[0013] Furthermore, the driving unit is a linear driving mechanism, and the body and output end of the linear driving mechanism are respectively hinged to the support member and the gripping unit at the other end of the gripping part.

[0014] Furthermore, the linear drive mechanism is a cylinder, which has a quick action response.

[0015] Furthermore, two groups of gripping parts and two groups of driving units are symmetrically provided on the support member, and the two groups of driving units respectively drive the two gripping parts to extend and retract in opposite directions.

[0016] By adopting the above technical solution, the utility model has the following beneficial effects:

[0017] (1) The present invention optimizes the fixed gripper unit in the traditional structure into a movable one. The driving unit drives the gripper unit at one end to move, and then drives the other gripper units connected in the transmission to follow the movement, thereby realizing the telescopic movement of the gripper part. In the process of material transfer, the distance between the grasped materials can be automatically adjusted to adapt to different material spacings. When used in a cartoning machine, it can adapt to the material spacing on the conveyor line and after cartoning at the same time, without the need to set up a whole row of components separately, saving equipment costs while improving cartoning efficiency.

[0018] (2) The utility model adopts a profile frame as a supporting member, which is light in weight and can be installed on the equipment for use with low load. A structure composed of a guide rail and a slider is used to realize the movable connection between the gripper unit and the profile frame, which has a simple structure and is easy to install.

[0019] (3) The utility model adopts a shrinking plate with a waist-shaped hole to connect adjacent sliders, and provides a movable space through the waist-shaped hole, so that the two sliders can move closer and farther under the action of external force, thereby achieving the purpose of changing the distance, and the overall weight is light.

[0020] (4) The present invention has at least two connecting holes, thereby ensuring that the shrinking plate installed thereon can remain horizontal, ensuring the stability of the shrinking movement of the slider, and avoiding the shrinking movement being stuck due to the skew of the shrinking plate.

[0021] (5) The slider of the utility model provides multiple installation positions for the installation of the contraction plate through the connecting plate, thereby adjusting the different initial positions between adjacent sliders to meet the needs of grabbing materials with different spacings, and having better versatility.

[0022] (6) The utility model adopts a connection structure in which the shrinking plates are staggered, thereby providing more avoidance space, avoiding interference between the shrinking plates, and at the same time achieving a smaller grasping unit spacing, thereby expanding the scope of application.

[0023] (7) The utility model adopts a connecting plate as a supporting member, and provides a double guide rod assembly and a moving block structure to achieve a sliding connection with the gripper unit, which has a low manufacturing cost.

[0024] (8) The utility model adopts a scissor fork structure to realize the transmission connection between the gripper units, realizes the contraction movement, has better stability, and is not prone to jamming.

[0025] (9) The drive unit of the utility model adopts a linear drive mechanism, which has a simple structure, low maintenance cost and simple control.

[0026] (10) The utility model provides a pair of gripping parts on the same support member, which can transfer more materials at the same time and further improve the gripping efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to make the content of the utility model easier to understand, the utility model is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings, wherein:

[0028] Figure 1 This is a schematic structural diagram of Example 1;

[0029] Figure 2 for Figure 1 A local enlarged view of point A in FIG;

[0030] Figure 3 This is a schematic diagram of the structure of Example 2 (the driving unit is not shown in the figure).

[0031] The reference numerals in the accompanying drawings are:

[0032] Support 1, drive unit 2, gripper unit 3, guide rail 4, slider 5, fixed block 6, contraction plate 7, connecting hole 7-1, waist-shaped hole 7-2, connecting plate 8, mounting screw hole 8-1, double guide rod assembly 9, moving block 10, scissors fork connecting assembly 11. DETAILED DESCRIPTION

[0033] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0034] (Example 1)

[0035] like Figures 1 to 2 The gripper assembly shown includes a support member 1, a drive unit 2 and a gripper unit 3, wherein a plurality of gripper units 3 are provided and movably arranged along the length direction of the support member 1, and adjacent gripper units 3 are connected by transmission to form a gripper portion that can be extended and retracted along the length direction of the support member 1, and the drive unit 2 is installed on the support member 1, wherein the gripper unit 3 at one end of the gripper portion is fixedly connected to the support member 1, and the gripper unit 3 at the other end is connected to the drive unit 2. The drive unit 2 drives the gripper unit 3 to move back and forth along the support member 1, thereby realizing automatic extension and retraction of the gripper portion, and then automatically adjusting the spacing between the grasped materials during the material transfer process, adapting to different material spacings, and being used in a cartoning machine. It can adapt to the material spacing on the conveyor line and after cartoning at the same time, without the need to set up a whole column of components separately, saving equipment costs while improving cartoning efficiency.

[0036] Specifically, two sets of grippers and two sets of drive units 2 are symmetrically provided on the support member 1. The two sets of drive units 2 respectively drive the two grippers to extend and retract in opposite directions, allowing for simultaneous transfer of more material and further improving gripping efficiency. The drive unit 2 is a linear drive mechanism, preferably a pneumatic cylinder, which offers rapid response, a simple structure, and easy control. The cylinder body is hinged to the support member 1. The gripper unit 3 can be a vacuum suction cup assembly, an electromagnetic suction cup, or a manipulator. This embodiment utilizes a vacuum suction cup assembly.

[0037] To achieve a lighter load, the support member 1 in this embodiment is a profile frame. A guide rail 4 is fixedly attached to the bottom of the profile frame. A plurality of sliders 5, equal in number to the number of gripper units 3, slidably engage the guide rail 4. The gripper units 3 are fixedly connected to corresponding sliders 5, thereby achieving a sliding connection with the support member 1. A fixed block 6 is fixedly connected between the slider 5 at one end of the gripper and the profile frame. At the other end, the slider 5 is hingedly connected to the piston rod of a pneumatic cylinder, enabling reciprocating motion along the profile frame controlled by the cylinder.

[0038] A contraction piece 7 is connected between two adjacent sliders 5. One end of the contraction piece 7 has a connecting hole 7-1, and the other end has a waist-shaped hole 7-2 extending along the length of the support member 1. Screws and connecting pins are respectively fixed to the two adjacent sliders 5, penetrating the connecting hole 7-1 and the waist-shaped hole 7-2. The connecting pins are clearance-fitted with the waist-shaped hole 7-2, providing space for movement through the waist-shaped hole, allowing the two sliders 5 to move closer and farther under external force, achieving the purpose of variable distance. The overall weight is relatively light. Two connecting holes 7-1 are provided along the length of the support member 1, ensuring that the contraction piece 7 mounted thereon can remain horizontal, ensuring the stability of the contraction movement of the slider 5 and preventing the contraction movement from stalling due to skew of the contraction piece 7.

[0039] Sliders 5 are fixed with connecting plates 8, which are provided with multiple mounting screw holes 8-1 along the length of support member 1. Screws and connecting pins are screwed into different mounting screw holes to adjust the initial spacing between adjacent slides, accommodating material grabbing at varying distances and providing greater versatility. Adjacent retracting plates 7 are staggered at the front and rear of the slides, providing more clearance and preventing interference between the plates 7. This also allows for smaller spacing between grabbing units, expanding the range of applications.

[0040] The working process of this embodiment is as follows: the vacuum suction cup assembly absorbs the conveyed material. During the transfer process, the piston rod of the cylinder retracts, driving the slider at the end of the gripper to move, and then the other sliders are driven to slide in sequence through the transmission of the contraction plate 7 to achieve tightening, so that the distance between adjacent vacuum suction cups becomes smaller, so that they can be directly loaded into the empty box.

[0041] (Example 2)

[0042] like Figure 3 As shown, the structural design principle of this embodiment is similar to that of embodiment 1, except that the support member 1 is a connecting plate, and a double guide rod assembly 9 is fixedly suspended in parallel at the bottom of the connecting plate. A plurality of moving blocks 10 equal in number to the gripping units 3 are slidingly provided on the double guide rod assembly 9. The gripping units 3 are fixedly connected to the corresponding moving blocks 10. The moving block 10 at one end of the gripping portion is fixedly connected to the double guide rod assembly 9, and the moving block 10 at the other end is connected to the output end of the drive unit 2. A scissor fork connecting assembly 11 is provided between the connecting plate and the double guide rod assembly 9, and each moving block 10 is fixedly connected to the corresponding central hinge point on the scissor fork connecting assembly 11. In order to reduce the weight as much as possible, through grooves are provided on both the connecting plate and the scissor fork connecting assembly. The moving block 10 at the end is driven to move by the drive unit 2, and the transmission of the scissor fork connecting assembly 11 drives the other moving blocks 10 to tighten, so that the spacing between adjacent gripping units 3 becomes smaller, the stability is better, and it is not easy to get stuck.

[0043] The utility model optimizes the fixed gripper unit in the traditional structure into a movable setting, drives the gripper unit at one end to move through the driving unit, and then drives the other gripper units connected in the transmission to follow the movement, thereby realizing the telescopic movement of the gripper part, and then automatically adjusts the distance between the gripped materials during the material transfer process, adapting to different material spacings. When used in a cartoning machine, it can adapt to the material spacing on the conveyor line and after cartoning at the same time, without the need to set up a whole row of components separately, saving equipment costs while improving cartoning efficiency.

[0044] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A gripper assembly, characterized in that: It includes a support member, a driving unit installed on the support member, and multiple gripping units movably arranged along the length direction of the support member. Adjacent gripping units are transmission-connected to form a retractable gripping portion along the length direction of the support member. The gripping unit at one end of the gripping portion is fixedly connected to the support member, and the gripping unit at the other end is connected to the driving unit and is suitable for reciprocating movement along the support member under the drive of the driving unit.

2. The gripper assembly according to claim 1, characterized in that: The support member is a profile frame, the bottom of the profile frame is fixedly connected to a guide rail, and a plurality of sliders with the same number as the gripper units are slidably fitted on the guide rail. The gripper units are fixedly connected to the corresponding sliders, and a fixed block is fixedly connected between the slider at one end of the gripper part and the profile frame, and the slider at the other end is connected to the output end of the drive unit.

3. The gripper assembly according to claim 2, characterized in that: A shrinkage plate is connected between two adjacent sliders. A connecting hole is provided at one end of the shrinkage plate, and a waist-shaped hole extending along the length direction of the support member is provided at the other end. Screws and connecting pins passing through the connecting hole and the waist-shaped hole are respectively fixed to the two adjacent sliders, and the connecting pin is loosely matched with the waist-shaped hole.

4. The gripper assembly according to claim 3, characterized in that: There are at least two connecting holes along the length direction of the support member.

5. The gripper assembly according to claim 3, characterized in that: The slider is fixed with a connecting piece, and the connecting piece is provided with a plurality of mounting screw holes along the length direction of the support member. The screws and connecting pins are screwed into different mounting screw holes to adjust the initial spacing between adjacent sliders.

6. The gripper assembly according to claim 3, characterized in that: Two adjacent shrinkage plates are staggered and arranged on both sides of the slider.

7. The gripper assembly according to claim 1, characterized in that: The support member is a connecting plate, and a double guide rod assembly is fixedly suspended in parallel at the bottom of the connecting plate. A plurality of moving blocks with the same number as the gripper units are slidably provided on the double guide rod assembly. The gripper unit is fixedly connected to the corresponding moving blocks. The moving block at one end of the gripper part is fixedly connected to the double guide rod assembly, and the moving block at the other end is connected to the output end of the drive unit.

8. The gripper assembly according to claim 7, characterized in that: A scissor-fork connecting assembly is provided between the connecting plate and the double guide rod assembly, and the moving blocks are respectively fixedly connected to corresponding central hinge points on the scissor-fork connecting assembly.

9. The gripper assembly according to any one of claims 1 to 8, characterized in that: The driving unit is a linear driving mechanism, and the body and output end of the linear driving mechanism are respectively hinged to the support member and the gripping unit at the other end of the gripping part.

10. The gripper assembly according to any one of claims 1 to 8, characterized in that: Two groups of gripping parts and two groups of driving units are symmetrically provided on the support member, and the two groups of driving units respectively drive the two gripping parts to extend and retract in opposite directions.

Images