Clamp special for boxed food at tail end of robot palletizer
The clamp design that clamps the top, bottom and sides of the packaging box solves the problems of deformation and falling of logistics cartons during transportation, and achieves stable clamping and safe release of the packaging box.
Patent Information
- Application Number
- CN202423074676.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-12
- Publication Date
- 2025-10-03
- Estimated Expiration
- 2034-12-12
AI Technical Summary
Existing logistics cartons are prone to deformation and falling off during transportation. Existing clamps are difficult to clamp stably under heavy weights, resulting in damage or falling of the packaging boxes.
The clamp design is used to clamp the top, bottom and sides of the packaging box. The cylinder drives the pressure plate and the expansion plate to achieve stable clamping and release of the packaging box.
Ensure the stability of the packaging box during transportation, avoid deformation and falling off, and improve the safety and reliability of clamping.
Smart Images
Figure CN223408922U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robot clamps, in particular to a special clamp for boxed food at the end of a palletizing robot. Background Art
[0002] With the development and progress of society, the logistics and transportation industry has also grown rapidly. During the logistics and transportation process, logistics cartons are often used to package and transport products that need to be packaged, especially frozen fresh foods such as seafood and dried mushrooms such as wood ear mushrooms. Carton packaging can isolate the food inside from the outside, to a certain extent, ensuring that the food inside will not be damaged by impact or squeezing during transportation. After the products are packaged in logistics cartons, they are placed on a conveyor belt for transportation. Then, the food cartons are stacked by manual handling or palletizing robots for subsequent overall transportation.
[0003] Existing cartons are transported by stacking them directly. While this method is convenient, the disordered placement of cartons can easily lead to damage, deformation, and breakage. Using cargo racks for layered and compartmentalized palletizing during palletizing effectively prevents contact between cartons, ensuring packaging integrity and preventing damage to the food inside.
[0004] When placing boxed food on shelves, manual handling or palletizing robots are generally used. Although manual handling can ensure the integrity of the box during handling and placement, the work efficiency is low, especially when placing it in high-rise locations, which is more laborious. Palletizing robots save time and effort and are highly efficient, but the clamps used at the end of the robot are generally negative pressure suction cups that absorb and transport from the top of the box, or two-finger pneumatic clamps that clamp from both sides of the box. When the overall weight of the packaging box is large, both clamping methods can easily cause the box to deform, and then the box will fall out of the clamp. Utility Model Content
[0005] In response to the above-mentioned defects and shortcomings, the present utility model provides a special clamp for boxed food at the end of a palletizing robot, which clamps the top, bottom and both sides of the packaging box in sequence to ensure the stability of the packaging box during transportation, avoid deformation of the box body due to excessive local force or uneven force, and prevent the packaging box from falling off the clamp during transportation.
[0006] In order to solve the above technical problems, a technical solution adopted by the present invention is:
[0007] A special clamp for boxed food at the end of a palletizing robot comprises a connecting plate connected to the execution end of the palletizing robot, a cylinder fixedly mounted at the center of the bottom surface of the connecting plate, a lifting frame plate fixedly connected to the output rod end of the cylinder, a pressure plate fixedly connected to the bottom of the lifting frame plate, and two sets of clamping assemblies symmetrically arranged on the left and right sides connected between the bottom surface of the connecting plate and the top surface of the lifting frame plate;
[0008] The clamping assembly includes a first expansion and contraction plate hinged to one side of the bottom surface of the connecting plate, a second expansion and contraction plate hinged to the bottom end of the first expansion and contraction plate through a rotating shaft, vertically movable limit seats are movably inserted on both sides of the lifting frame plate, the bottom end of the second expansion and contraction plate is hinged to the top end of the limit seat, the middle part of the rotating shaft is rotatably connected to a horizontal guide rod, the bottom of the outer end of the horizontal guide rod is fixedly connected to a vertically arranged clamping arm plate, a supporting plate is provided on the inner side of the bottom end of the clamping arm plate, and a floating guide plate sleeved on the outside of the cylinder is movably connected between the two horizontal guide rods.
[0009] Furthermore, the top surface of the pressure plate is threadedly connected to a plurality of double-headed screws, the top ends of the double-headed screws pass through the top surface of the lifting frame plate and are locked and fixed by locking nuts.
[0010] Furthermore, a first rubber pad is fixedly provided on the bottom surface of the pressing plate.
[0011] Furthermore, hinge seats are integrally provided at both ends of the top surface of the limit seat, and vertically arranged plug holes are opened on the lifting frame plate, and the hinge seats are movably plugged into the plug holes.
[0012] Furthermore, horizontally arranged guide holes are respectively opened inside both ends of the floating guide plate, and the inner ends of the horizontal guide rods are movably inserted into the guide holes.
[0013] Furthermore, a through hole is provided in the middle of the floating guide plate, which passes through the through hole from top to bottom, and the cylinder is located in the through hole.
[0014] Furthermore, a connecting side plate is integrally provided on the outer end of the horizontal guide rod, and the top end of the outer side surface of the clamping arm plate is fitted with the inner side surface of the clamping arm plate and fixedly connected by screws.
[0015] Furthermore, a second rubber pad is fixedly provided on the inner side surface of the clamping arm plate and the top surface of the supporting plate.
[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0017] 1. The utility model can ensure the stability of the packaging box during transportation by clamping the top, bottom and sides of the packaging box, avoiding deformation of the box body due to excessive or uneven force in some parts, and preventing the packaging box from falling off the clamp during transportation;
[0018] 2. In the process of clamping the packaging box, the utility model first drives the pressure plate downward by the cylinder to contact the top surface of the packaging box, and then the connecting plate rises through the vertical extension and horizontal contraction of the two expansion and contraction plates on both sides. At the same time, the clamping wall panels and the support plates on both sides clamp the two sides and the bottom of the packaging box. In the process of releasing the packaging box, the pressure plate is first driven upward by the cylinder to separate from the top surface of the packaging box, and then the two expansion and contraction plates on both sides vertically contract and horizontally extend, so that the clamping wall panels and the support plates on both sides release the two sides and the bottom of the packaging box synchronously, thereby ensuring the safety and reliability of the clamping and releasing processes. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 This is one of the three-dimensional structural diagrams of the present utility model;
[0020] Figure 2 This is the second schematic diagram of the three-dimensional structure of the utility model;
[0021] Figure 3 This is a schematic diagram of the structure of the utility model in a state of preparing to clamp the outer side of the boxed food;
[0022] Figure 4 This is a schematic diagram of the structure of the utility model in a state where the outer side of the boxed food is clamped;
[0023] Figure 5 is a schematic diagram of the three-dimensional structure of the clamping assembly;
[0024] Figure 6 is a schematic diagram of the three-dimensional structure of the horizontal guide rod;
[0025] Figure 7 is a schematic diagram of the three-dimensional structure of the floating guide plate;
[0026] Figure 8 It is a schematic diagram of the three-dimensional structure of the horizontal guide rod and the floating guide plate in cooperation.
[0027] In the figure: 1. Connecting plate; 2. Cylinder; 3. Lifting frame plate; 4. Pressing plate; 401. First rubber pad; 5. Clamping assembly; 501. First retractable plate; 502. Second retractable plate; 503. Horizontal guide rod; 5031. Connecting side plate; 504. Floating guide plate; 5041. Guide hole; 5042. Through hole; 505. Clamping arm plate; 506. Support plate; 507. Limit seat; 508. Second rubber pad; 6. Double-headed screw; 7. Locking nut; 100. Packing box; 200. Placement table. DETAILED DESCRIPTION
[0028] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.
[0029] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component. When a component is considered to be "fixed to" another component, it may be directly fixed to the other component or there may be a central component.
[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are for the purpose of describing specific embodiments only and are not intended to limit this invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.
[0031] The present invention provides a special clamp for boxed food at the end of a palletizing robot, which is arranged at the action execution end of the palletizing robot. The palletizing robot realizes the positioning of the special clamp at the clamping position of the packaging box 100 to be transported, even if the special clamp is located directly above the packaging box 100. Then, the special clamp completes the clamping of the packaging box 100, and then the palletizing robot transfers the clamped packaging box 100 to a cargo rack or other placement position. The special clamp then releases the packaging box 100, allowing the packaging box 100 to fall to the placement position.
[0032] See also Figures 1 to 8 The special clamp for boxed food includes a connecting plate 1 connected to the execution end of the palletizing robot, and a cylinder 2 is fixedly installed at the center of the bottom surface of the connecting plate 1. A connecting column is provided on the top of the connecting plate 1, which is fixedly connected to the execution end of the palletizing robot by any form of threaded connection or pin connection, so that the execution end can drive the special clamp to move as a whole, so that the clamped packaging box 100 can reach the predetermined placement position along a pre-planned travel route. The cylinder 2 is vertically fixedly connected to the center of the bottom surface of the connecting plate 1, and the output shaft end is set vertically downward. The air inlet end of the cylinder 2 is connected to the air supply system of the palletizing robot through a hose, and the on-off logic control subroutine of the cylinder 2 is added to its control program.
[0033] The output rod end of the cylinder 2 is fixedly connected to the lifting frame plate 3, and the bottom of the lifting frame plate 3 is fixedly connected to the pressure plate 4. The cylinder 2 drives the lifting frame plate 3 to move downward / upward to achieve the compression / release of the pressure plate 4 on the top surface of the packaging box 100, thereby cooperating with the placement platform 200 at the bottom of the packaging box 100 to clamp or release the packaging box 100 in the vertical direction. Preferably, a first rubber pad 401 is fixedly provided on the bottom surface of the pressure plate 4, which can effectively increase the friction between the pressure plate 4 and the top surface of the packaging box 100, improve the stability of the clamping, and at the same time buffer the contact between the bottom surface of the pressure plate 4 and the top surface of the packaging box 100, thereby preventing wear on the top surface of the packaging box 100 caused by rigid contact. Furthermore, a plurality of double-headed screws 6 are threadedly connected to the top surface of the lifting frame plate 3. The top ends of the double-headed screws 6 extend above the top surface of the lifting frame plate 3 and are locked and fixed by locking nuts 7. By setting up the double-headed screw 6, there is a certain height difference between the lifting frame plate 3 and the pressure plate 4 in the vertical direction to meet the vertical activity space requirement of the limit seat 507. At the same time, by changing the length of the double-headed screw 6, the vertical height between the bottom surface of the pressure plate 4 and the top surface of the support plate 506 can be adjusted under the condition that the stroke of the cylinder 2 is fixed, thereby meeting the clamping requirements of the packaging boxes 100 of different height sizes vertically clamped between the pressure plate 4 and the support plate 506.
[0034] Two symmetrically arranged clamping assemblies 5 are connected between the bottom surface of the connecting plate 1 and the top surface of the lifting frame 3. These clamping assemblies 5 comprise a first retractable plate 501 hinged to one side of the bottom surface of the connecting plate 1 and a second retractable plate 502 hinged to the bottom end of the first retractable plate 502 via a pivot. Vertically movable limit blocks 507 are movably inserted into either side of the lifting frame 3. The bottom end of the second retractable plate 502 is hinged to the top end of the limit block 507. A horizontal guide rod 503 is rotatably connected to the center of the pivot. A vertically mounted clamping arm 505 is fixedly connected to the bottom of the outer end of the horizontal guide rod 503. A support plate 506 is mounted on the inner side of the bottom end of the clamping arm 505. A floating guide plate 504, which sleeves onto the outer side of the cylinder 2, is movably connected between the two horizontal guide rods 503.
[0035] Specifically, hinge seats are provided on both sides of the bottom surface of the connecting plate 1, and the top ends of the two first retractable plates 401 are respectively hinged to the corresponding hinge seats by rotating the shaft; hinge seats are provided on both ends of the top surface of the limit seat 507, and the bottom end of the second retractable plate 502 is hinged to the top end of the limit seat 507 through the shaft, so that the connecting plate 1, the lifting frame plate 3 and the two first retractable plates 501 and the two second retractable plates 502 form a symmetrical hexagonal structure. When the vertical spacing between the connecting plate 1 and the lifting frame plate 3 / pressing plate 4 increases, the first The expansion and contraction panels 501 and 502 are stretched vertically, causing the hinge (rotating axis) between them to move horizontally inward, resulting in a contraction in the horizontal width. Simultaneously, as the bottom inner side of the first expansion and contraction panel 501 swings downward, the hinge (rotating axis) also moves vertically downward. This means that the support plate 506 swings synchronously with the bottom of the first expansion and contraction panel 501, moving from the side bottom to the bottom of the packaging box 100. Simultaneously, the clamping arm plate 505 approaches the side of the packaging box 100 until it is in contact with it. Conversely, when the vertical spacing between the connecting lifting frame plate 3 and the connecting plate 1 decreases, the first expansion and contraction panels 501 and the second expansion and contraction panels 502 are vertically compressed, increasing the horizontal spacing between their hinges. This causes the clamping wall plates 505 on both sides to move away from each other, releasing the packaging box 100.
[0036] The lifting plate 3 is provided with a vertically arranged insertion hole, into which the hinged seat of the limit seat 507 movably engages. Thus, when clamping the packaging box 100, before the first and second retractable plates 501, 502 rotate relative to each other, the lifting plate 3 and the pressure plate 4 first move vertically downward, bringing the bottom surface of the pressure plate 4 into contact with the top surface of the packaging box 100, with the lifting plate 3 positioned at the bottom end of the limit seat 507. As the output rod of the cylinder 2 continues to extend, the lifting plate 3 no longer moves downward, leaving the connecting plate 1 in a free-moving state and moving upward (the palletizing robot's actuator moves upward in tandem), thereby vertically stretching the first and second retractable plates 501, 502, and achieving the aforementioned clamping process.
[0037] Horizontally positioned guide holes 5041 are defined at each end of the floating guide plate 504. The inner ends of the horizontal guide rods 503 are movably inserted into these guide holes. A through-hole 5042 runs vertically through the center of the floating guide plate 504, with the cylinder 2 positioned within this through-hole 5042. Connecting side plates 5031 are integrally formed at the outer ends of the horizontal guide rods 503. The top ends of the outer surfaces of the clamping arms 505 mate with the inner surfaces of the clamping arms 505 and are secured together by screws. This symmetry ensures that as the hinge (rotating axis) between the first and second retractable plates 501, 502, swings downward with the bottom end of the first retractable plate 501, the horizontal section of the horizontal guide rods 503 remains horizontal and does not rotate relative to the rotating axis, thereby maintaining the clamping arms 505 in a vertical position. The floating guide plate 504 rises and falls vertically synchronously with the two horizontal guide rods 503, without interfering with the vertical movement of the horizontal guide rods 503. The clamping arm plate 505 is in a "Z" shape. By replacing the clamping arm plates 505 of different shapes and sizes on the horizontal guide rod 503, the clamping requirements of packaging boxes 100 of different widths can be met.
[0038] Preferably, a second rubber pad 508 is fixedly provided on the inner side surface of the clamping arm plate 505 and the top surface of the support plate 506, which can protect the side and bottom edges of the packaging box 100 and avoid local wear due to rigid contact between the packaging box 100 and the clamping arm plate 505 and the support plate 506 during clamping and transportation.
[0039] The specific use process of this utility model is:
[0040] The execution end of the palletizing robot positions the special clamp just above the clamping position of the packaging box 100, so that the connecting plate 1 remains in the same position; the cylinder 2 works in the forward direction, and the output rod pushes the lifting frame plate 3 to move vertically downward until the pressure plate 4 contacts the top surface of the packaging box 100; the output rod of the cylinder 2 continues to extend, the connecting plate 1 moves vertically upward, the limit seat 507 moves downward, the first retractable plate 501 and the second retractable plate 502 are stretched vertically, the horizontal spacing between the two side shafts becomes smaller, and the clamping arm plates 505 and the support plate 506 on both sides swing in an arc inward and downward until the inner side surface of the clamping arm plate 505 contacts the packaging box 100. 506 is located below the bottom edge of the box 100; then the palletizing robot's executive end lifts the entire clamping device upward, and the pallet 506 rises until it contacts the bottom surface of the box 100. During this process, the output rod of the cylinder 2 continues to extend, causing the lifting frame 3 and the pressure plate 4 to continue to move downward (the bottom surface of the lifting frame 3 is located at or above the bottom surface of the limit seat 507) to maintain the downward pressure on the top surface of the box 100, thereby achieving comprehensive clamping of the box 100 in the upper and lower and left and right positions before transportation. During the transportation process, the box 100 will not fall off the special clamp. Since the special clamp actually bears the entire weight of the box 100 through the pallet 506, and then transfers it to the executive end of the palletizing robot through the connecting plate 1, the horizontal clamping force on both sides does not need to be too large. It is provided by the cylinder 2 drive and the hinge structure transmission, so the energy loss of the cylinder 2 is relatively low.
[0041] When the palletizing robot transfers the special fixture holding the package box 100 to the palletizing position or placement position (such as a cargo rack or a mobile cart) of the package box 100, the execution end of the palletizing robot first drives the special fixture to move vertically downward so that the package box 100 is placed on the placement table 200, and then the cylinder 2 works in the reverse direction, and its output shaft contracts, so that the lifting frame plate 3 and the pressure plate 4 move up synchronously until the top surface of the lifting frame plate 3 is located at the top of the limit seat 507 and slides in contact with the bottom surface of the second retractable plate 502; the execution end of the palletizing robot moves downward for a distance, so that the support plate 5 06 is located below the bottom edge of the packaging box 100; the output rod of the cylinder continues to shorten, the vertical distance between the lifting frame plate 3 and the connecting plate 1 is reduced, the first retractable plate 501 and the second retractable plate 502 are vertically compressed, the horizontal distance between the rotating shafts on both sides becomes larger, and the clamping arm plates 505 and the support plates 506 on both sides swing in an arc toward the outside and upward, thereby completely releasing the packaging box 100 and completing the placement process of the packaging box 100 on the placement table 200; the execution end of the stacking robot lifts the special clamp as a whole, or removes it from the front and rear horizontal directions of the packaging box 100.
[0042] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.
Claims
1. A special clamp for boxed food at the end of a palletizing robot, comprising a connecting plate (1) connected to the end of the palletizing robot, characterized in that: A cylinder (2) is fixedly mounted at the center of the bottom surface of the connecting plate (1); an output rod end of the cylinder (2) is fixedly connected to a lifting frame plate (3); a pressing plate (4) is fixedly connected to the bottom of the lifting frame plate (3); and two groups of clamping assemblies (5) symmetrically arranged on the left and right sides are connected between the bottom surface of the connecting plate (1) and the top surface of the lifting frame plate (3); The clamping assembly (5) comprises a first expansion and contraction plate (501) hinged to one side of the bottom surface of the connecting plate (1), a second expansion and contraction plate (502) hinged to the bottom end of the first expansion and contraction plate (501) via a rotating shaft, vertically movable limit seats (507) are movably connected to both sides of the lifting frame plate (3), the bottom end of the second expansion and contraction plate (502) is hinged to the top end of the limit seat (507), a horizontal guide rod (503) is rotatably connected to the middle part of the rotating shaft, a vertically arranged clamping arm plate (505) is fixedly connected to the bottom of the outer end of the horizontal guide rod (503), a supporting plate (506) is arranged on the inner side of the bottom end of the clamping arm plate (505), and a floating guide plate (504) sleeved on the outer side of the cylinder (2) is movably connected between the two horizontal guide rods (503).
2. The special clamp for boxed food at the end of a palletizing robot according to claim 1, characterized in that: The top surface of the pressure plate (4) is threadedly connected to a plurality of double-headed screws (6), and the top ends of the double-headed screws (6) pass through the top surface of the lifting frame plate (3) and are locked and fixed by locking nuts (7).
3. The special clamp for boxed food at the end of a palletizing robot according to claim 1 or 2, characterized in that: A first rubber pad (401) is fixedly arranged on the bottom surface of the pressing plate (4).
4. The special clamp for boxed food at the end of a palletizing robot according to claim 1 or 2, characterized in that: Both ends of the top surface of the limit seat (507) are integrally provided with hinge seats, and a vertically arranged plug hole is opened on the lifting frame plate (3), and the hinge seat is movably plugged into the plug hole.
5. The special clamp for boxed food at the end of a palletizing robot according to claim 1, characterized in that: Horizontally arranged guide holes (5041) are respectively provided inside both ends of the floating guide plate (504), and the inner ends of the horizontal guide rods (503) are movably inserted into the guide holes (5041).
6. The special clamp for boxed food at the end of a palletizing robot according to claim 1 or 5, characterized in that: A through hole (5042) is provided in the middle of the floating guide plate (504) and passes through the through hole (5042). The cylinder (2) is located in the through hole (5042).
7. The special clamp for boxed food at the end of a palletizing robot according to claim 1 or 5, characterized in that: The outer end of the horizontal guide rod (503) is integrally provided with a connecting side plate (5031), and the top end of the outer side surface of the clamping arm plate (505) is fitted with the inner side surface of the clamping arm plate (505) and fixedly connected by screws.
8. The special clamp for boxed food at the end of a palletizing robot according to claim 7, characterized in that: A second rubber pad (508) is fixedly provided on the inner side surface of the clamping arm plate (505) and the top surface of the supporting plate (506).