Mechanical clamping jaw for automatic box folding robot

Abstract

The utility model relates to the field of automatic carton folding robots, in particular to a mechanical clamping jaw for an automatic carton folding robot, which comprises a mechanical clamping jaw unit, the mechanical clamping jaw unit is arranged at the output end of a robot body, a carton body is clamped on the mechanical clamping jaw unit, and the mechanical clamping jaw unit comprises a rotating mechanism. A carton main body is grabbed through the arranged clamping jaw mechanism, the flat carton main body can be adsorbed to a carton attaching plate through a pneumatic suction cup, then an arranged air cylinder can push a pressing plate, and the pressing plate is matched with rotation of a third rotating head at a first rotating head and rotation of a fourth rotating head at a second rotating head; after the piston rod of the air cylinder extends out, the pressing plate can be pushed to rotate with the rotating rod as the axis, so that the parallel state of the pressing plate and the carton attaching plate is changed into the vertical state, a flat carton body is expanded, the work of manually expanding the carton body is omitted, and the carton folding efficiency can be effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of automatic box-folding robot technology, and in particular to a mechanical gripper for an automatic box-folding robot. Background Technology

[0002] Automated box-folding robots are automated packaging equipment that utilizes artificial intelligence and visual recognition technology. They are widely used in packaging, logistics, and express delivery. Their main functions include automated packaging, intelligent sorting, and quality inspection, significantly improving production efficiency, reducing costs, and optimizing packaging quality.

[0003] Currently, most folding robots rely on robotic arms to pick up cardboard boxes and then fold them. However, most cardboard boxes are flat before folding, so they need to be stretched open first to facilitate subsequent folding by the robotic arm. This still requires a lot of manpower, resulting in low folding efficiency. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a mechanical gripper for an automatic box-folding robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A mechanical gripper for an automatic box folding robot includes a mechanical gripper unit, which is disposed at the output end of the robot body. The mechanical gripper unit clamps a carton body. The mechanical gripper unit includes a rotating mechanism, a gripper mechanism is installed at the output end of the rotating mechanism, and a pushing mechanism is installed on one side of the gripper mechanism.

[0007] The claw mechanism includes a carton bonding plate with mounting holes at its four corners. Fixing components are installed at the mounting holes of the carton bonding plate. A pneumatic suction cup is provided in the middle of the carton bonding plate, and the carton body is adsorbed onto the pneumatic suction cup. A pressure plate is rotatably provided on one side of the carton bonding plate. A connecting plate is fixedly connected to the carton bonding plate. One end of the pushing mechanism is rotatably connected to the connecting plate, and the other end is rotatably connected to the pressure plate.

[0008] In addition, a preferred structure is that the rotating mechanism includes a rotating seat, which is located at the output end of the robot body. A fixed plate is rotatably mounted on the rotating seat. Multiple mounting columns are evenly and vertically arranged on the fixed plate. Each mounting column has a mounting hole, and the mounting holes of the mounting columns are aligned with the center of the mounting holes of the carton bonding plate.

[0009] In addition, a preferred structure is that rotating holes are symmetrically opened on one side wall of the carton bonding plate, and the pressure plate is rotatably set at the rotating holes.

[0010] In addition, a preferred structure is that rotating rods are symmetrically arranged on the upper and lower surfaces of the pressure plate, the rotating rods are rotatably arranged at the rotating holes, and a first rotating head is provided on the side wall surface of the pressure plate facing the connecting plate.

[0011] In addition, a preferred structure is that the connecting plate is provided with a second rotating head, and the driving mechanism is rotatably connected to the second rotating head.

[0012] Furthermore, in a preferred configuration, the pushing mechanism includes a cylinder, a third rotating head is fixedly connected to the piston rod end of the cylinder output end, a fourth rotating head is provided at the tail end of the cylinder away from the third rotating head, the third rotating head is rotatably connected to the first rotating head, and the fourth rotating head is rotatably connected to the second rotating head.

[0013] The beneficial effects of this utility model are as follows: This utility model uses a claw mechanism to grip the carton body, and a pneumatic suction cup to allow the flat carton body to adhere to the carton bonding plate. Then, a cylinder pushes the pressure plate, which, in conjunction with the rotation of the third rotating head at the first rotating head and the rotation of the fourth rotating head at the second rotating head, causes the piston rod of the cylinder to extend and push the pressure plate to rotate around the rotating rod as the axis. This changes the parallel state of the pressure plate and the carton bonding plate to a perpendicular state, thereby opening up the flat carton body. This eliminates the need for manual opening of the carton body and can effectively improve the efficiency of folding the carton. Attached Figure Description

[0014] Figure 1 A schematic diagram of the gripper mechanism gripping the main body of the carton;

[0015] Figure 2 A schematic diagram of the chuck mechanism mounted on the rotating mechanism;

[0016] Figure 3 This is a schematic diagram of the structure after separating the rotating mechanism and the chuck mechanism. Figure 1 ;

[0017] Figure 4 This is a schematic diagram of the structure after separating the rotating mechanism and the chuck mechanism. Figure 2 ;

[0018] Figure 5 This is a schematic diagram of the structure after the push mechanism and the gripper mechanism are separated.

[0019] In the diagram: 01 Robot body, 02 Mechanical gripper unit, 03 Carton body, 1 Rotating mechanism, 11 Rotating seat, 12 Fixing plate, 13 Mounting column, 2 Gripper mechanism, 21 Carton bonding plate, 211 Rotating hole, 22 Pneumatic suction cup, 23 Pressure plate, 231 Rotating rod, 232 First rotating head, 24 Connecting plate, 241 Second rotating head, 3 Fixing component, 4 Pushing mechanism, 41 Cylinder, 42 Third rotating head, 43 Fourth rotating head. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0021] Reference Figure 1-5 A mechanical gripper for an automatic box-folding robot includes a mechanical gripper unit 02, which is located at the output end of the robot body 1. A cardboard box body 03 is clamped on the mechanical gripper unit 02. The mechanical gripper unit 02 includes a rotating mechanism 1, and a gripper mechanism 2 is installed at the output end of the rotating mechanism 1. A pushing mechanism 4 is installed on one side of the gripper mechanism 2. The gripper mechanism 2 includes a cardboard box bonding plate 21, with mounting holes at the four corners of the cardboard box bonding plate 21. Fixing components 3 are installed at the mounting holes of the cardboard box bonding plate 21. A pneumatic suction cup 22 is provided in the middle of the cardboard box bonding plate 21, and the cardboard box body 03 is adsorbed onto the pneumatic suction cup 22. A pressure plate 23 is rotatably provided on one side of the cardboard box bonding plate 21, and a connecting plate 24 is fixedly connected to the cardboard box bonding plate 21. One end of the pushing mechanism 4 is rotatably connected to the connecting plate 24, and the other end is rotatably connected to the pressure plate 23. The pressure plate 23 can press the cardboard box body 03 open by rotating it.

[0022] In addition, the rotating mechanism 1 includes a rotating seat 11, which is located at the output end of the robot body 01. A fixed plate 12 is rotatably mounted on the rotating seat 11. Multiple mounting posts 13 are evenly and vertically arranged on the fixed plate 12. Each mounting post 13 has a mounting hole. The mounting holes of the mounting posts 13 are aligned with the center of the mounting holes of the carton bonding plate 21. The mounting posts 13 are used to mount the claw mechanism 2, and leave space between the claw mechanism 2 and the fixed plate 12 to facilitate the connection of the pneumatic suction cup 22.

[0023] Furthermore, rotating holes 211 are symmetrically opened on one side wall of the cardboard bonding plate 21, and the pressure plate 23 is rotatably set at the rotating hole 211, which is used for the rotation of the pressure plate 23.

[0024] Meanwhile, rotating rods 231 are symmetrically arranged on the upper and lower surfaces of the pressure plate 23. The rotating rods 231 are rotatably arranged at the rotating hole 211. A first rotating head 232 is arranged on the side wall surface of the pressure plate 23 facing the connecting plate 24. The rotating rods 231 realize the rotation of the pressure plate 23.

[0025] In addition, a second rotating head 241 is provided on the connecting plate 24, and the pushing mechanism 4 is rotatably connected to the second rotating head 241. The pushing mechanism 4 includes a cylinder 41, and a third rotating head 42 is fixedly connected to the piston rod end of the output end of the cylinder 41. A fourth rotating head 43 is provided at the tail of the cylinder 41 away from the third rotating head 42. The third rotating head 42 is rotatably connected to the first rotating head 232, and the fourth rotating head 43 is rotatably connected to the second rotating head 241. The cylinder 41 can effectively push the pressure plate 23 to rotate.

[0026] In this embodiment, the robot body 01 grasps the carton body 03 through the mechanical gripper unit 02. First, the robot body 01 is a kind of robotic arm. The movement of the robotic arm causes the carton bonding plate 21 to adhere to the carton body 03 that needs to be folded. Then, the pneumatic suction cup 22 adsorbs the carton body 03. At this time, the piston rod of the cylinder 41 extends, thereby cooperating with the rotation of the third rotating head 42 at the first rotating head 232 and the rotation of the fourth rotating head 43 at the second rotating head 241. After the piston rod of the cylinder 41 extends, it can push the pressure plate 23 to rotate around the rotating rod 231 as the axis, thereby changing the parallel state of the pressure plate 23 and the carton bonding plate 21 to a perpendicular state, thereby opening up the flat carton body 03, so that the subsequent folding work can be carried out.

[0027] In this invention, a claw mechanism 2 is used to grip the carton body 03, and a pneumatic suction cup 22 is used to attach the flat carton body 03 to the carton bonding plate 21. Then, a cylinder 41 pushes a pressure plate 23. With the rotation of a third rotating head 42 at the first rotating head 232 and a fourth rotating head 43 at the second rotating head 241, the piston rod of the cylinder 41 extends and pushes the pressure plate 23 to rotate around the rotating rod 231. This changes the parallel state of the pressure plate 23 and the carton bonding plate 21 to a perpendicular state, thereby opening up the flat carton body 03. This eliminates the need for manual opening of the carton body 03 and effectively improves the efficiency of folding the carton.

[0028] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A mechanical gripper for an automatic box-folding robot, comprising a mechanical gripper unit (02), characterized in that, The mechanical gripper unit (02) is located at the output end of the robot body (01). The mechanical gripper unit (02) is clamped with a carton body (03). The mechanical gripper unit (02) includes a rotating mechanism (1). A gripper mechanism (2) is installed at the output end of the rotating mechanism (1). A pushing mechanism (4) is installed on one side of the gripper mechanism (2). The claw mechanism (2) includes a carton bonding plate (21), with mounting holes at the four corners of the carton bonding plate (21). Fixing components (3) are installed at the mounting holes of the carton bonding plate (21). A pneumatic suction cup (22) is provided in the middle of the carton bonding plate (21). The carton body (03) is adsorbed on the pneumatic suction cup (22). A pressure plate (23) is rotatably provided on one side of the carton bonding plate (21). A connecting plate (24) is fixedly connected to the carton bonding plate (21). One end of the pushing mechanism (4) is rotatably connected to the connecting plate (24), and the other end is rotatably connected to the pressure plate (23).

2. The mechanical gripper for an automatic box-folding robot according to claim 1, characterized in that, The rotating mechanism (1) includes a rotating seat (11), which is located at the output end of the robot body (01). A fixed plate (12) is rotatably mounted on the rotating seat (11). Multiple mounting posts (13) are evenly and vertically arranged on the fixed plate (12). Each mounting post (13) has a mounting hole, and the mounting holes of the mounting posts (13) are aligned with the center of the mounting holes of the carton bonding plate (21).

3. The mechanical gripper for an automatic box-folding robot according to claim 1, characterized in that, The cardboard bonding plate (21) has symmetrical rotating holes (211) on one side wall, and the pressure plate (23) is rotatably set at the rotating hole (211).

4. The mechanical gripper for an automatic box-folding robot according to claim 3, characterized in that, The pressure plate (23) is symmetrically provided with rotating rods (231) on its upper and lower surfaces. The rotating rods (231) are rotatably provided at the rotating hole (211). The pressure plate (23) is provided with a first rotating head (232) on the side wall surface facing the connecting plate (24).

5. The mechanical gripper for an automatic box-folding robot according to claim 1, characterized in that, The connecting plate (24) is provided with a second rotating head (241), and the pushing mechanism (4) is rotatably connected to the second rotating head (241).

6. The mechanical gripper for an automatic box-folding robot according to claim 5, characterized in that, The pushing mechanism (4) includes a cylinder (41), a third rotating head (42) is fixedly connected to the piston rod end of the output end of the cylinder (41), a fourth rotating head (43) is provided at the tail of the cylinder (41) away from the third rotating head (42), the third rotating head (42) is rotatably connected to the first rotating head (232), and the fourth rotating head (43) is rotatably connected to the second rotating head (241).

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