Transfer gripper mechanism of box filling machine for barrel products

Abstract

The utility model provides a transfer gripper mechanism of a box filling machine for barrel products, which is used for grabbing and transferring barrel combinations of different specifications and comprises a rack and a transfer gripper mechanism, the transfer gripper mechanism is mounted on the rack and comprises a transverse moving component, a lifting component and a gripper, the transverse moving component is mounted on the rack, the lifting component is mounted on the rack, and the gripper is mounted on the rack. The lifting assembly is installed on the transverse moving assembly, the grabbing head is connected with the lifting assembly, the grabbing head can transversely and vertically move on the rack, and the grabbing head comprises a plurality of suction cups of different models. After cylindrical products of different specifications are arranged on a conveying line, the grabbing head is moved to the grabbing position through the transverse moving assembly and the lifting assembly in the scheme, then the cylindrical products are combined and grabbed together through the suction cups of different models, and then the cylindrical products are transferred into a packaging box through the transverse moving assembly and the lifting assembly, the structure is simple, the working efficiency is high, and the production cost is low. And one-time clamping and packaging of different barrel product combinations are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of transfer equipment, in particular to a transfer gripping head mechanism of a box packing machine for drum products. Background Art

[0002] Currently, in industrial production, because combination barrel products involve two or more combined forms, they are manually sorted and then packed into cartons, resulting in low efficiency and high labor intensity. While transfer devices are currently used in automated production, for example, Chinese patent application number CN202321896664.1 discloses an end picker capable of gripping pallets and barrels. By providing a barrel gripper 1 and a barrel gripper 2, driven by a barrel clamping cylinder, the barrel gripper 1 and the barrel gripper 2 simultaneously open and close to clamp the barrel, enabling the gripping of both square barrels and round barrels. Two racks, a pinion shaft, and a linear guide 1 and 2 form a gear-rack synchronization mechanism. Under the action of the pallet clamping cylinder, the pallet gripper transfer frame 1 and the pallet gripper transfer frame 2 simultaneously open and close, facilitating the switching between pallets and barrels. The device offers high installation flexibility and can be installed on either a truss robot or a six-axis robot. It boasts a high level of integration and can handle the gripping of square barrels, round barrels, and pallets. However, the above mechanism cannot realize the one-time grabbing and transferring of different shapes of barrel materials. Utility Model Content

[0003] Purpose of the utility model: In order to overcome the above shortcomings, the purpose of this utility model is to provide a transfer and grabbing head mechanism for a cartoning machine for round barrel products, which has a simple structure and reasonable design, realizes the multi-form combined transfer and grabbing of barrel materials, and improves production efficiency.

[0004] Technical solution: In order to achieve the above-mentioned purpose, the present invention provides a transfer gripper mechanism for a cartoning machine for drum products, which is used for grabbing and transferring drum combinations of different specifications, including a frame and a transfer gripper mechanism, wherein the transfer gripper mechanism is mounted on the frame, and the transfer gripper mechanism includes a transverse movement component, a lifting component, and a gripper, wherein the transverse movement component is mounted on the frame, and the lifting component is mounted on the transverse movement component, and the gripper is connected to the lifting component, and the gripper can move laterally and vertically on the frame, and the gripper includes a plurality of suction cups of different models. After the drum products of different specifications are sorted and arranged on the conveyor line, the gripper is moved to the grabbing position by the transverse movement component and the lifting component in the solution, and then the combination of drum products is grabbed together using suction cups of different models, and then transferred to the packaging box by the transverse movement component and the lifting component.

[0005] Furthermore, the grab head includes a grab head connecting assembly, a receiving plate, a mounting plate and a group of side baffles. The upper and lower ends of the grab head connecting assembly are respectively connected to the lifting assembly and the receiving plate. The mounting plate is installed on the lower side of the receiving plate. The side baffles are movably connected to both sides of the mounting plate. The suction cup is installed on the lower side of the mounting plate.

[0006] Furthermore, the gripper connection assembly is equipped with a swinging cylinder and a vacuum device. The swinging cylinder is connected to the receiving plate, and the vacuum device is connected to the suction cup. The receiving plate is connected to the swinging cylinder. Under the action of the swinging cylinder, the receiving plate and the mechanism thereon can rotate accordingly. During grasping, the gripper rotates in the direction of the barrel material combination to be grasped. After the grasping is stable, the direction of rotation is adjusted to the packing direction.

[0007] Furthermore, the side guards are provided with a clamping head and a clamping drive. The clamping head is vertically mounted on the side guards, and the clamping drive is connected to the side guards. The clamping drive comprises a cylinder, a guide shaft, a guide block, and a linkage mechanism connecting the two side guards. The guide block is fixed to the mounting plate. One end of the guide shaft is connected to the inner side of the side guard, and the other end is inserted into the guide block. The linkage mechanism comprises three hinged connecting rods. The middle portion of the middle connecting rod is pivotally connected to the mounting plate. The connecting rods at both ends are hinged to the corresponding side guards at one end and hinged to the middle connecting rod at the other end. The distal end of the cylinder is pivotally mounted on the receiving plate, and the output end of the cylinder is connected to one end of the middle connecting rod in one set of the linkage mechanisms. The cylinder retracts and retracts through the linkage mechanism to drive the side guards to close or open. The guide shaft and guide block cooperate to ensure the stable movement of the side guards. During grasping, after the suction cups complete suction, the side guards close, further clamping the barrel material through the clamping head to enhance its stability.

[0008] Furthermore, the transverse shift assembly includes a transverse shift drive motor, a transverse shift synchronous reducer, a synchronous toothed belt, a transverse shift plate, a drive shaft, and a driven shaft. The transverse shift drive motor is connected to the transverse shift synchronous reducer, which is fixed to the frame. The drive shaft is connected to the transverse shift synchronous reducer. The drive shaft and the driven shaft are rotatably mounted on the frame, and both ends of the drive shaft and the driven shaft are provided with transmission wheels and are connected by a synchronous belt transmission. The transverse shift plate is mounted on the frame in the form of a slider rail, and the bottom of the transverse shift plate is fixedly connected to the synchronous toothed belt. The transverse shift drive motor transmits power to the synchronous toothed belt, which drives the transverse shift plate to move along the guide rail on the frame.

[0009] Furthermore, the lifting assembly includes a lifting motor, a lifting synchronous reducer, a guide wheel and a group of gear rods, the lifting synchronous reducer is installed on the transverse plate, the lifting motor is connected to the lifting synchronous reducer, the guide wheel is installed on the transverse plate through a bearing seat, the gear rod passes through the transverse plate and is connected to the grab head, gears are provided at both ends of the output shaft of the lifting synchronous reducer, the gears are engaged with the gear rod, the side of the gear rod away from the teeth cooperates with the guide wheel to drive the gear rod up and down, thereby driving the grab head to move up and down, and the guide wheel maintains the stability of the gear rod when it moves up and down.

[0010] Furthermore, the frame is provided with multiple groups of transfer gripper mechanisms, each group of which is provided with a different arrangement and combination of suction cups. The multiple groups of transfer gripper mechanisms can be used to select different transfer gripper mechanisms according to different arrangements and combinations of barrel materials of different shapes, thereby improving overall compatibility.

[0011] It can be seen from the above technical solution that the utility model has the following beneficial effects:

[0012] 1. The utility model discloses a transfer gripper mechanism for a cartoning machine for drum products. Different types of suction cups are designed to be arranged according to the different sizes and heights of the drum assembly for gripping. To prevent the product from falling under the action of tangential force during the transfer process after gripping, a cylinder-driven connecting rod mechanism clamps the drum product around to maintain stable grip, ultimately achieving one-time gripping and transfer of the drum assembly, greatly improving production efficiency.

[0013] 2. The utility model sets multiple groups of transfer grabbing head mechanisms on the frame, and each group of transfer grabbing head mechanisms is set with different suction cup arrangements and combinations. By setting multiple groups of transfer grabbing head mechanisms, different transfer grabbing head mechanisms can be selected according to different arrangements and combinations of barrel materials of different shapes, thereby improving the overall compatibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a front view of the transfer gripping head mechanism of a case packing machine for drum products described in the utility model;

[0015] Figure 2 This is a schematic diagram of the structure of the grab head in the utility model;

[0016] Figure 3 This is a schematic diagram of the structure of the lifting component and the lateral movement component in the utility model;

[0017] Figure 4 This is a schematic diagram of the assembly of multiple groups of transfer and grabbing head mechanisms in the utility model.

[0018] In the figure: 1-frame, 2-transverse movement assembly, 21-transverse movement drive motor, 22-transverse movement synchronous reducer, 23-synchronous toothed belt, 24-transverse movement plate, 25-drive shaft, 26-driven shaft, 3-lifting assembly, 31-lifting motor, 32-lifting synchronous reducer, 33-guide wheel, 34-tooth rod, 4-grab head, 41-suction cup, 42-grab head connecting assembly, 421-swing cylinder, 422-vacuum device, 43-support plate, 44-mounting plate, 45-side baffle, 451-clamping head, 452-clamping drive device, 4521-cylinder, 4522-guide shaft, 4523-guide block, 4524-connecting rod mechanism. DETAILED DESCRIPTION

[0019] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] like Figure 1 、 Figure 4 As shown, a transfer gripper mechanism of a cartoning machine for drum products is used for grabbing and transferring combinations of drums of different specifications, including a frame 1 and a transfer gripper mechanism, the transfer gripper mechanism being mounted on the frame 1, the transfer gripper mechanism comprising a transverse movement component 2, a lifting component 3 and a gripper 4, the transverse movement component 2 being mounted on the frame 1, the lifting component 3 being mounted on the transverse movement component 2, the gripper 4 being connected to the lifting component 3, the gripper 4 being movable laterally and vertically on the frame, the gripper 4 comprising a plurality of suction cups 41 of different models.

[0021] like Figure 2 As shown, the gripping head 4 includes a gripping head connection assembly 42, a receiving plate 43, a mounting plate 44, and a set of side baffles 45. The upper and lower ends of the gripping head connection assembly 42 are respectively connected to the lifting assembly 3 and the receiving plate 43. The mounting plate 44 is mounted on the lower side of the receiving plate 43. The side baffles 45 are movably connected to both sides of the mounting plate 44. The suction cup 41 is mounted on the lower side of the mounting plate 44. In addition, in order to adapt to the height of different barrel materials, the mounting plate 44 can be arranged in a multi-layered manner. The suction cup 41 is placed on the lower side of the mounting plate 44 according to the arrangement of the barrel materials.

[0022] According to a further optimized solution, a swing cylinder 421 and a vacuum device 422 are provided on the gripping head connecting assembly 42 , the swing cylinder 421 is connected to the receiving plate 43 , and the vacuum device 422 is connected to the suction cup 41 .

[0023] In a further optimized solution, the side baffle 45 is further provided with a clamping head 451 and a clamping drive device 452. The clamping head 451 is vertically provided on the side baffle 45, and the clamping drive device 452 is connected to the side baffle 45. It includes a cylinder 4521, a guide shaft 4522, a guide block 4523, and a connecting rod mechanism 4524 connecting the side baffles 45 on both sides.

[0024] Please refer again Figure 2 The clamping drive device 452 includes a cylinder 4521, a guide shaft 4522, a guide block 4523, and a connecting rod mechanism 4524 connecting the side baffles 45 on both sides. The guide block 4523 is fixed to the mounting plate 44. One end of the guide shaft 4522 is connected to the inner side of the side baffle 45, and the other end is inserted into the guide block 4523. The connecting rod mechanism 4524 includes three mutually hinged connecting rods. The middle portion of the middle connecting rod is rotatably connected to the mounting plate 44. The connecting rods at both ends have one end hinged to the corresponding side baffle 45 and the other end hinged to the middle connecting rod. The end of the cylinder 4521 is rotatably mounted on the receiving plate 43. The output end of the cylinder 4521 is connected to one end of the middle connecting rod in one set of the connecting rod mechanisms 4524. In addition, the drive device for the side baffles 45 can also be replaced by a device such as a bidirectional cylinder. The clamping head 451 is not limited to the structure shown in the figure, and its end can also be in the form of an arc-shaped clamping rod.

[0025] like Figure 3 As shown, the transverse movement assembly 2 includes a transverse movement drive motor 21, a transverse movement synchronous reducer 22, a synchronous toothed belt 23, a transverse movement plate 24, a drive shaft 25 and a driven shaft 26. The transverse movement drive motor 21 is connected to the transverse movement synchronous reducer 22, and the transverse movement synchronous reducer 22 is fixed on the frame 1. The drive shaft 25 is connected to the transverse movement synchronous reducer 22. The drive shaft 25 and the driven shaft 26 are rotatably mounted on the frame 1, and both ends of the drive shaft 25 and the driven shaft 26 are provided with transmission wheels and are connected by synchronous belt transmission. The transverse movement plate 24 is mounted on the frame 1 in the form of a slider rail. The bottom of the transverse plate 24 is fixedly connected to the synchronous toothed belt 23; the lifting assembly 3 includes a lifting motor 31, a lifting synchronous reducer 32, a guide wheel 33 and a set of gear rods 34. The lifting synchronous reducer 32 is installed on the transverse plate 24, and the lifting motor 31 is connected to the lifting synchronous reducer 32. The guide wheel 33 is installed on the transverse plate 24 through a bearing seat. The gear rod 34 passes through the transverse plate 24 and is connected to the grab head 4. Gears are provided at both ends of the output shaft of the lifting synchronous reducer 32. The gears mesh with the gear rod 34. The side of the gear rod 34 away from the teeth cooperates with the guide wheel 33. It should be noted that the lifting assembly 3 and the transverse assembly 2 in this embodiment are not limited to the above-mentioned forms. Any structure that can realize the lateral and vertical movement of the grab head 4 is acceptable.

[0026] like Figure 4 As shown, the frame 1 is provided with multiple groups of transfer gripper mechanisms, each of which is provided with a different arrangement and combination of suction cups 41. In this embodiment, the user can select the number of transfer gripper mechanisms installed on the barrel material conveyor line as needed, and each group of transfer gripper mechanisms can grasp a different combination of barrels.

[0027] The utility model provides a transfer gripping head mechanism for a packing machine for drum products. When in use: after the drum product assembly is in place, the lifting motor 31 in the lifting assembly 3 is started, and the gear rod 34 is driven downward by the lifting synchronous reducer 32, thereby driving the gripping head 4 to move downward until it contacts the surface of the drum. At this time, the vacuum device 422 is started to make the suction cup 41 adsorb the top surface of the drum, and the piston rod of the cylinder 4521 extends out through the connecting rod mechanism 4524 to drive the side baffle 45 so that the clamping head 451 clamps the drum from the side; then the lifting assembly 2 drives the gripping head After rising to the set height, the swing cylinder 421 is started to turn the barrel assembly, and the transverse drive motor 21 is started to drive the synchronous belt 23 through the transverse synchronous reducer 22. The synchronous belt 23 carries the transverse plate 24 and moves transversely along the guide rail on the frame 1 to the top of the packaging box. Then, the lifting assembly 3 moves the gripping head holding the barrel to the packaging box, the vacuum device 422 is closed, the cylinder 4521 retracts, and the side baffle 45 opens to place the barrel into the packaging box. Finally, the gripping head 4 returns to the gripping position through the lifting assembly 3 and the transverse assembly 2 to prepare for the next gripping.

[0028] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principles of the present invention. These improvements should also be regarded as within the scope of protection of the present invention.

Claims

1. A transfer gripping head mechanism for a barrel product packing machine, used for grabbing and transferring barrels of different specifications, characterized in that: The invention comprises a frame (1) and a transfer grabbing head mechanism, wherein the transfer grabbing head mechanism is mounted on the frame (1), the transfer grabbing head mechanism comprises a transverse moving component (2), a lifting component (3) and a grabbing head (4), the transverse moving component (2) is mounted on the frame (1), the lifting component (3) is mounted on the transverse moving component (2), the grabbing head (4) is connected to the lifting component (3), the grabbing head (4) can move horizontally and vertically on the frame, and the grabbing head (4) comprises a plurality of suction cups (41) of different models.

2. The transfer gripping head mechanism of a barrel product box packing machine according to claim 1, characterized in that: The grab head (4) comprises a grab head connection assembly (42), a receiving plate (43), a mounting plate (44) and a group of side baffles (45). The upper and lower ends of the grab head connection assembly (42) are respectively connected to the lifting assembly (3) and the receiving plate (43). The mounting plate (44) is mounted on the lower side of the receiving plate (43). The side baffles (45) are movably connected to both sides of the mounting plate (44). The suction cup (41) is mounted on the lower side of the mounting plate (44).

3. The transfer gripping head mechanism of a barrel product box packing machine according to claim 2, characterized in that: The gripping head connection assembly (42) is provided with a swing cylinder (421) and a vacuum device (422); the swing cylinder (421) is connected to the receiving plate (43); and the vacuum device (422) is connected to the suction cup (41).

4. The transfer gripping head mechanism of a barrel product box packing machine according to claim 3, characterized in that: The side baffle (45) is further provided with a clamping head (451) and a clamping drive device (452). The clamping head (451) is vertically provided on the side baffle (45), and the clamping drive device (452) is connected to the side baffle (45).

5. The transfer gripping head mechanism of a barrel product box packing machine according to claim 4, characterized in that: The clamping drive device (452) includes a cylinder (4521), a guide shaft (4522), a guide block (4523) and a group of connecting rod mechanisms (4524) connected to the side baffles (45) on both sides. The guide block (4523) is fixed on the mounting plate (44). One end of the guide shaft (4522) is connected to the inner side of the side baffle (45), and the other end is inserted into the guide block (4523). The connecting rod mechanism (4524) includes three connecting rods that are hinged to each other. The middle part of the connecting rod located in the middle is rotatably connected to the mounting plate (44). One end of the connecting rod located at both ends is hinged to the corresponding side baffle (45), and the other end is hinged to the connecting rod located in the middle. The end of the cylinder (4521) is rotatably mounted on the receiving plate (43). The output end of the cylinder (4521) is connected to one end of the connecting rod located in the middle of one group of connecting rod mechanisms (4524).

6. The transfer gripping head mechanism of a barrel product box packing machine according to claim 1, characterized in that: The transverse shift assembly (2) includes a transverse shift drive motor (21), a transverse shift synchronous reducer (22), a synchronous toothed belt (23), a transverse shift plate (24), a drive shaft (25), and a driven shaft (26). The transverse shift drive motor (21) is connected to the transverse shift synchronous reducer (22). The transverse shift synchronous reducer (22) is fixed on the frame (1). The drive shaft (25) is connected to the transverse shift synchronous reducer (22). The drive shaft (25) and the driven shaft (26) are rotatably mounted on the frame (1). Both ends of the drive shaft (25) and the driven shaft (26) are provided with transmission wheels and are connected through a synchronous belt transmission. The transverse shift plate (24) is mounted on the frame (1) in the form of a slider rail. The bottom of the transverse shift plate (24) is fixedly connected to the synchronous toothed belt (23).

7. The transfer gripping head mechanism of a barrel product box packing machine according to claim 6, characterized in that: The lifting assembly (3) includes a lifting motor (31), a lifting synchronous reducer (32), a guide wheel (33) and a set of gear rods (34), wherein the lifting synchronous reducer (32) is mounted on the transverse plate (24), the lifting motor (31) is connected to the lifting synchronous reducer (32), the guide wheel (33) is mounted on the transverse plate (24) through a bearing seat, the gear rod (34) passes through the transverse plate (24) and is connected to the grab head (4), gears are provided at both ends of the output shaft of the lifting synchronous reducer (32), the gears are meshed with the gear rod (34), and the side of the gear rod (34) away from the teeth cooperates with the guide wheel (33).

8. The transfer gripping head mechanism of a barrel product box packing machine according to claim 6, characterized in that: Multiple groups of transfer and grabbing head mechanisms are provided on the frame (1), and each group of the transfer and grabbing head mechanisms is provided with a different arrangement and combination of suction cups (41).

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