Integrated grabbing device

Abstract

The utility model discloses an integrated grabbing device which is used for grabbing cartons stacked on a material table and comprises a frame body, a material clamping assembly, a material sucking assembly and a lifting table assembly. The material clamping assembly comprises a material inserting mechanism, a material pushing mechanism and a material supporting mechanism. The material inserting mechanism and the material pushing mechanism are arranged at the two ends of the frame body respectively, the material inserting mechanism is used for separating part of cartons from the stacked cartons, the material pushing mechanism is used for fixing the separated cartons between the material inserting mechanism and the material pushing mechanism, and the material supporting mechanism is used for supporting the separated cartons upwards; the material suction assembly is arranged between the material inserting mechanism and the material pushing mechanism and comprises a material suction air cylinder and a vacuum suction cup. When only a small number of cartons exist on the material table, the material suction air cylinder is used for driving the vacuum sucker to move, and the vacuum sucker is used for sucking the cartons. The lifting table assembly is arranged between the material inserting mechanism and the material pushing mechanism and used for grabbing the material table. The carton conveying device cannot damage cartons, and the production efficiency of the cartons is improved.

Description

Technical Field

[0001] This utility model relates to the field of gripping equipment technology, and in particular to an integrated gripping device. Background Technology

[0002] Cardboard boxes are the most widely used packaging products. Depending on the materials used, there are corrugated cardboard boxes, single-layer cardboard boxes, etc., and various specifications and models are available. Three-layer and five-layer cardboard boxes are commonly used, while seven-layer boxes are less common. Each layer consists of linerboard, corrugated paper, core paper, and facing paper. During the production process of corrugated cardboard boxes, traditional cardboard clamps can easily damage the boxes. When dealing with boxes that cannot be damaged, the clamps need to be replaced. These new clamps do not damage the boxes, but they are slower, and the replacement process is cumbersome, affecting production efficiency. Summary of the Invention

[0003] According to an embodiment of the present invention, an integrated gripping device is provided for gripping cartons stacked on a material platform, comprising: a frame, a clamping assembly, a suction assembly, and a lifting platform assembly;

[0004] The clamping assembly includes: a material insertion mechanism, a material pushing mechanism, and a material support mechanism;

[0005] The inserting mechanism and the pushing mechanism are located at both ends of the frame. The inserting mechanism is used to separate some cartons from the stacked cartons, the pushing mechanism is used to fix the separated cartons between the inserting mechanism and the pushing mechanism, and the supporting mechanism is used to lift the separated cartons upwards.

[0006] The material suction assembly is located between the material insertion mechanism and the material pushing mechanism. The material suction assembly includes: a material suction cylinder and a vacuum suction cup.

[0007] When there are only a few cartons on the material table, the suction cylinder is used to drive the vacuum suction cup to move, and the vacuum suction cup is used to pick up the cartons.

[0008] The lifting platform assembly is located between the inserting mechanism and the pushing mechanism, and is used to grip the material platform.

[0009] Furthermore, the inserting mechanism includes: an inserting cylinder, a guide column, an inserting frame plate, an inserting slide plate, and an inserting plate;

[0010] The inserting cylinder and guide column are both mounted on the frame. The output end of the inserting cylinder is connected to the inserting frame plate, which is used to drive the inserting frame plate to move on the guide column. The inserting slide plate is slidably mounted on the inserting frame plate. The inserting plate is located at the lower end of the inserting slide plate. The inserting plate is serrated or beveled. The inserting plate is used to separate part of the carton from the stacked cartons.

[0011] Furthermore, the inserting mechanism also includes: a sliding cylinder, an inserting track, and an inserting slider;

[0012] The inserting frame is a rectangular frame. A sliding cylinder is located at the top of the inserting frame. The output end of the sliding cylinder is connected downward to the inserting slide plate. Inserting tracks are provided on both sides of the inserting frame. The inserting slider is slidably located on the inserting track and connected to the inserting slide plate.

[0013] Furthermore, the pushing mechanism includes: a pushing motor, a pushing screw, a pushing guide rod, a pushing frame plate, and a pushing plate;

[0014] The pusher motor is mounted on the frame, and the output end of the pusher motor is connected to the pusher screw. Pusher guide rods are provided on both sides of the pusher screw. One end of the pusher frame plate is connected to the pusher screw. The pusher frame plate slides on the pusher guide rods, and the pusher plate is mounted on the pusher frame plate.

[0015] Furthermore, the pushing mechanism also includes: a pushing cylinder, a pushing track, and a pushing slider;

[0016] The pusher frame is a rectangular frame. The pusher cylinder is located at the top of the pusher frame. The output end of the pusher cylinder is connected downward to the pusher plate. Pusher tracks are provided on both sides of the pusher frame. The pusher slider is slidably located on the pusher track and is connected to the pusher plate.

[0017] Furthermore, the material support mechanism includes: a first cylinder, a second cylinder, a connecting rod, a first insert shovel, and a second insert shovel;

[0018] The first cylinder is fixed on the frame. The output end of the first cylinder is connected to the first end of the connecting rod, and the second end of the connecting rod is connected to the output end of the second cylinder. The first shovel is placed on the connecting rod, and the second shovel is fixed to one end of the second cylinder.

[0019] Furthermore, the frame is mirrored with two lifting platform assemblies, each comprising: a drive mechanism, a drive shaft, and a material platform gripper;

[0020] The drive mechanism is located on one side of the frame. The output end of the drive mechanism is connected to the drive shaft. The drive shaft is rotatably mounted on the frame. Both ends of the drive shaft are equipped with material platform grabbers, which are used to grab the material platform.

[0021] Furthermore, the drive mechanism includes: a drive cylinder and a drive connecting rod;

[0022] The drive cylinder is fixed on the frame, and the output end of the drive cylinder is connected to the first end of the drive linkage, while the second end of the drive linkage is connected to the drive shaft.

[0023] Furthermore, the material suction assembly includes: a material suction plate;

[0024] The suction plate is rotatably mounted on the drive shaft, the suction cylinder is mounted on the frame, the output end of the suction cylinder is connected to the suction plate, and the vacuum suction cup is fixed on the suction plate.

[0025] Furthermore, the frame is equipped with connectors for connecting multi-axis modules.

[0026] According to an embodiment of this utility model, an integrated gripping device, when faced with cardboard boxes that cannot be damaged, a pushing mechanism pushes the stacked cardboard boxes toward an inserting mechanism, causing the inserting mechanism to separate a portion of the cardboard boxes from the stack. A supporting mechanism then lifts the separated cardboard boxes upwards, completing the gripping of the cardboard boxes. This method prevents damage to the cardboard boxes and improves cardboard box production efficiency.

[0027] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further illustration of the claimed technology. Attached Figure Description

[0028] Figure 1 This is a perspective view of an integrated gripping device according to an embodiment of the present utility model;

[0029] Figure 2 This is a perspective view of another integrated gripping device according to an embodiment of the present utility model;

[0030] Figure 3 This is a side view of an integrated gripping device according to an embodiment of the present invention;

[0031] Figure 4 This is a side view of another integrated gripping device according to an embodiment of the present utility model;

[0032] Figure 5 This is a top view of an integrated gripping device according to an embodiment of the present invention;

[0033] Figure 6 This is a bottom view of an integrated gripping device according to an embodiment of the present utility model;

[0034] Figure 7 This is a structural diagram of an integrated gripping device platform assembly according to an embodiment of the present invention;

[0035] Figure 8 This is a side view of an integrated gripping device platform assembly according to an embodiment of the present invention;

[0036] Figure 9 This is a top view of an integrated gripping device platform assembly according to an embodiment of the present invention.

[0037] In the attached diagram, the following symbols are used: 1 for frame, 11 for connector, 2 for inserting mechanism, 21 for inserting cylinder, 22 for guide column, 23 for inserting frame plate, 24 for inserting slide plate, 25 for inserting plate, 26 for sliding cylinder, 27 for inserting track, 28 for inserting slider, 3 for pushing mechanism, 31 for pushing motor, 32 for pushing screw, 33 for pushing guide rod, 34 for pushing frame plate, 35 for pushing plate, and 36 for pushing. 37 is a pusher track, 38 is a pusher slider, 4 is a material support mechanism, 41 is a first cylinder, 42 is a second cylinder, 43 is a connecting rod, 44 is a first insert shovel, 45 is a second insert shovel, 5 is a suction assembly, 51 is a suction cylinder, 52 is a vacuum suction cup, 53 is a suction plate, 6 is a lifting platform assembly, 61 is a drive shaft, 62 is a material platform grabber, 7 is a drive mechanism, 71 is a drive cylinder, and 72 is a drive connecting rod. Detailed Implementation

[0038] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, further illustrating the present invention.

[0039] First, combine Figures 1-9 This invention describes an integrated gripping device according to an embodiment of the present invention, used for gripping cardboard boxes stacked on a material platform.

[0040] like Figures 1-9 As shown, an integrated gripping device according to an embodiment of the present invention is used to grip cartons stacked on a material platform, including: a frame 1, a clamping assembly, a suction assembly 5, and a lifting platform assembly 6;

[0041] The clamping assembly includes: a material insertion mechanism 2, a material pushing mechanism 3, and a material support mechanism 4;

[0042] Insertion mechanism 2 and pushing mechanism 3 are respectively located at both ends of frame 1. Insertion mechanism 2 is used to separate some cartons from stacked cartons. Pushing mechanism 3 is used to fix the separated cartons between insertion mechanism 2 and pushing mechanism 3. Supporting mechanism 4 is used to lift the separated cartons upward.

[0043] The material suction assembly 5 is located between the material insertion mechanism 2 and the material pushing mechanism 3. The material suction assembly 5 includes: a material suction cylinder 51 and a vacuum suction cup 52.

[0044] When there are only a few cartons on the material table, the suction cylinder 51 is used to drive the vacuum suction cup 52 to move, and the vacuum suction cup 52 is used to pick up the cartons.

[0045] The lifting platform assembly 6 is located between the inserting mechanism 2 and the pushing mechanism 3, and is used to grab the material platform.

[0046] When dealing with ordinary cardboard boxes, the inserting mechanism 2 first inserts into the stacked cardboard boxes, separating a portion of the cardboard boxes from the stack. The pushing mechanism 3 pushes against one end of the separated cardboard box, fixing the cardboard box between the pushing mechanism 3 and the inserting mechanism 2. The supporting mechanism 4 then lifts the separated cardboard box upwards, completing the gripping of the cardboard box.

[0047] When faced with cartons that cannot be damaged, the pushing mechanism 3 pushes the stacked cartons toward the inserting mechanism 2, causing the inserting mechanism 2 to separate a portion of the cartons from the stack. The supporting mechanism 4 then lifts the separated cartons upwards, completing the grasping of the cartons. This process prevents damage to the cartons and improves production efficiency.

[0048] like Figures 1-6 As shown, the inserting mechanism 2 includes: inserting cylinder 21, guide column 22, inserting frame plate 23, inserting slide plate 24, inserting plate 25, sliding cylinder 26, inserting track 27 and inserting slider 28;

[0049] Insertion cylinder 21 and guide column 22 are both mounted on frame 1. The output end of insertion cylinder 21 is connected to insertion rack plate 23 and is used to drive insertion rack plate 23 to move on guide column 22. Insertion slide plate 24 is slidably mounted on insertion rack plate 23. Insertion plate 25 is mounted at the lower end of insertion slide plate 24. Insertion plate 25 is serrated or beveled plate. Insertion plate 25 is used to separate part of the carton from the stacked carton.

[0050] The inserting frame plate 23 is a rectangular frame. The sliding cylinder 26 is located at the upper end of the inserting frame plate 23. The output end of the sliding cylinder 26 is connected downward to the inserting slide plate 24. Inserting tracks 27 are provided on both sides of the inserting frame plate 23. The inserting slider 28 is slidably located on the inserting track 27 and is connected to the inserting slide plate 24.

[0051] When dealing with ordinary cardboard boxes, a serrated insert plate 25 is used. The insert cylinder 21 drives the insert rack plate 23 to move on the guide column 22, so that the insert plate 25 is inserted into the stacked cardboard boxes. The sliding cylinder 26 drives the insert slide plate 24 to move on the insert track 27, so that the insert plate 25 moves upward and lifts the separated cardboard boxes upward. After the cardboard is lifted, a gap is created between the separated cardboard and the stacked cardboard boxes, which makes it easier for the material support mechanism 4 to lift the cardboard through the gap.

[0052] When dealing with cardboard boxes that cannot be damaged, an angled insert plate 25 is used. During the process of the pushing mechanism 3 pushing the cardboard box, one end of a portion of the cardboard box slides onto the insert plate 25 through the angle. The sliding cylinder 26 drives the insert slide plate 24 to move on the insert track 27, causing the insert plate 25 to move upward and lift the separated cardboard box upward. After the cardboard is lifted, a gap is created between the separated cardboard and the stacked cardboard boxes, which makes it easier for the material support mechanism 4 to lift the cardboard through the gap.

[0053] like Figures 1-6 As shown, the pushing mechanism 3 includes: a pushing motor 31, a pushing screw 32, a pushing guide rod 33, a pushing frame plate 34, a pushing push plate 35, a pushing cylinder 36, a pushing track 37, and a pushing slider 38;

[0054] The pusher motor 31 is mounted on the frame 1. The output end of the pusher motor 31 is connected to the pusher screw 32. Pusher guide rods 33 are provided on both sides of the pusher screw 32. One end of the pusher frame plate 34 is connected to the pusher screw 32. The pusher frame plate 34 slides on the pusher guide rods 33. The pusher plate 35 is mounted on the pusher frame plate 34.

[0055] The pusher plate 34 is a rectangular frame. The pusher cylinder 36 is located at the upper end of the pusher plate 34. The output end of the pusher cylinder 36 is connected downward to the pusher plate 35. Pusher rails 37 are provided on both sides of the pusher plate 34. The pusher slider 38 is slidably located on the pusher rail 37 and is connected to the pusher plate 35.

[0056] The pusher motor 31 drives the pusher screw 32 to rotate, causing the pusher frame plate 34 to move on the pusher guide rod 33, which in turn causes the pusher plate 35 to move toward the carton. The pusher plate 35 can push the carton to the inserting mechanism 2, fixing the carton separated from the inserting mechanism 2 between the inserting mechanism 2 and the pusher plate 35. The pusher cylinder 36 drives the pusher plate 35 to move on the pusher track 37, causing the separated carton to be lifted upward. After the cardboard is lifted, a gap is created between the separated cardboard and the stacked cardboard and carton, which makes it easier for the material support mechanism 4 to lift the cardboard through the gap.

[0057] like Figures 1-6 As shown, the material feeding mechanism 4 includes: a first cylinder 41, a second cylinder 42, a connecting rod 43, a first insert shovel 44, and a second insert shovel 45;

[0058] The first cylinder 41 is fixed on the frame 1. The output end of the first cylinder 41 is connected to the first end of the connecting rod 43. The second end of the connecting rod 43 is connected to the output end of the second cylinder 42. The first shovel 44 is provided on the connecting rod 43. The second shovel 45 is fixed to one end of the second cylinder 42.

[0059] After the pushing mechanism 3 and the inserting mechanism 2 lift the separated cartons, the output end of the first cylinder 41 retracts, positioning the first insert shovel 44 at one of the three equal division points of the length of the frame 1. The output end of the second cylinder 42 extends, and the body of the second cylinder 42 moves, positioning the second insert shovel 45 at another one of the three equal division points of the length of the frame 1, so that the first insert shovel 44 and the second insert shovel 45 are inserted into the gap created after the cartons are lifted. When the supporting mechanism 4 is not working, the output end of the first cylinder 41 is in the extended state, the output end of the second cylinder 42 is in the retracted state, and the first insert shovel 44 and the second insert shovel 45 are located at one end of the inserting mechanism 2 of the frame 1 to prevent the first insert shovel 44 and the second insert shovel 45 from interfering with the inserting mechanism 2 in separating the cartons.

[0060] like Figures 3-6 As shown, two lifting platform assemblies 6 are mirror-image mounted on the frame 1. The lifting platform assembly 6 includes: a drive mechanism 7, a drive shaft 61, and a material platform grabber 62.

[0061] The drive mechanism 7 is located on one side of the frame 1. The output end of the drive mechanism 7 is connected to the drive shaft 61. The drive shaft 61 is rotatably mounted on the frame 1. Both ends of the drive shaft 61 are equipped with material platform grabbers 62, which are used to grab the material platform.

[0062] The drive mechanism 7 includes: a drive cylinder 71 and a drive connecting rod 72;

[0063] The drive cylinder 71 is fixed on the frame 1. The output end of the drive cylinder 71 is connected to the first end of the drive connecting rod 72, and the second end of the drive connecting rod 72 is connected to the drive shaft 61.

[0064] After all the cartons on the material platform are removed, the drive cylinder 71 moves the drive linkage 72, which in turn drives the drive shaft 61 to rotate, causing the material platform gripper 62 to rotate downwards. The two material platform grippers 62 then grab the material platform, making it easier to move the material platform.

[0065] like Figures 3-6 As shown, the material suction assembly 5 includes: a material suction plate 53;

[0066] The suction plate 53 is rotatably mounted on the drive shaft 61, the suction cylinder 51 is mounted on the frame 1, the output end of the suction cylinder 51 is connected to the suction plate 53, and the vacuum suction cup 52 is fixed on the suction plate 53.

[0067] When a small number of cartons remain on the material platform, the suction cylinder 51 drives the suction plate 53 to rotate on the drive shaft 61, so that the vacuum suction cup 52 faces the cartons on the material platform and the vacuum suction cup 52 picks up the cartons, making it easier to move the remaining cartons.

[0068] like Figures 1-6 As shown, the frame 1 is provided with a connector 11, which is used to connect the multi-axis module.

[0069] In this embodiment, the frame 1 can be connected to a linear module, a cross module, or a three-axis module via a connector 11, which facilitates moving the gripped carton or material platform to the required position.

[0070] Above, refer to Figures 1-9 An integrated gripping device according to an embodiment of the present invention is described. When facing ordinary cardboard boxes, the inserting mechanism 2 first inserts into the stacked cardboard boxes, separates a portion of the cardboard boxes from the stacked boxes, and the pushing mechanism 3 pushes against one end of the separated cardboard box, fixing the cardboard box between the pushing mechanism 3 and the inserting mechanism 2. The supporting mechanism 4 then lifts the separated cardboard box upwards, completing the gripping of the cardboard box.

[0071] When faced with cartons that cannot be damaged, the pushing mechanism 3 pushes the stacked cartons toward the inserting mechanism 2, causing the inserting mechanism 2 to separate a portion of the cartons from the stack. The supporting mechanism 4 then lifts the separated cartons upwards, completing the grasping of the cartons. This process prevents damage to the cartons and improves production efficiency.

[0072] It should be noted that, in this specification, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0073] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above content. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. An integrated gripping device for gripping stacked cartons on a material platform, characterized in that, include: Frame, clamping assembly, suction assembly, and lifting platform assembly; The clamping assembly includes: a material insertion mechanism, a material pushing mechanism, and a material supporting mechanism; The inserting mechanism and the pushing mechanism are respectively located at both ends of the frame. The inserting mechanism is used to separate a portion of the cardboard boxes from the stacked cardboard boxes. The pushing mechanism is used to fix the separated cardboard boxes between the inserting mechanism and the pushing mechanism. The supporting mechanism is used to lift the separated cardboard boxes upwards. The material suction assembly is located between the material insertion mechanism and the material pushing mechanism, and the material suction assembly includes: a material suction cylinder and a vacuum suction cup; When there are only a few cartons on the material table, the suction cylinder is used to drive the vacuum suction cup to move, and the vacuum suction cup is used to pick up the cartons. The lifting platform assembly is located between the inserting mechanism and the pushing mechanism, and the lifting platform assembly is used to grab the material platform.

2. The integrated gripping device as described in claim 1, characterized in that, The inserting mechanism includes: an inserting cylinder, a guide column, an inserting frame plate, an inserting slide plate, and an inserting plate; The inserting cylinder and guide column are both mounted on the frame. The output end of the inserting cylinder is connected to the inserting frame plate, which is used to drive the inserting frame plate to move on the guide column. The inserting slide plate is slidably mounted on the inserting frame plate. The inserting plate is located at the lower end of the inserting slide plate. The inserting plate is serrated or beveled. The inserting plate is used to separate a portion of the cardboard boxes from the stacked cardboard boxes.

3. The integrated gripping device as described in claim 2, characterized in that, The inserting mechanism further includes: a sliding cylinder, an inserting track, and an inserting slider; The inserting frame is a rectangular frame. The sliding cylinder is located at the upper end of the inserting frame. The output end of the sliding cylinder is connected downward to the inserting slide plate. Inserting tracks are provided on both sides of the inserting frame. The inserting slider is slidably located on the inserting track and is connected to the inserting slide plate.

4. The integrated gripping device as described in claim 1, characterized in that, The pushing mechanism includes: a pushing motor, a pushing screw, a pushing guide rod, a pushing frame plate, and a pushing plate; The pusher motor is mounted on the frame, and the output end of the pusher motor is connected to the pusher screw. Pusher guide rods are provided on both sides of the pusher screw. One end of the pusher frame plate is connected to the pusher screw, and the pusher frame plate slides on the pusher guide rods. The pusher plate is mounted on the pusher frame plate.

5. The integrated gripping device as described in claim 4, characterized in that, The pushing mechanism also includes: a pushing cylinder, a pushing track, and a pushing slider; The pusher frame is a rectangular frame. The pusher cylinder is located at the upper end of the pusher frame. The output end of the pusher cylinder is connected downward to the pusher plate. Pusher tracks are provided on both sides of the pusher frame. The pusher slider is slidably located on the pusher track and is connected to the pusher plate.

6. The integrated gripping device as described in claim 1, characterized in that, The material feeding mechanism includes: a first cylinder, a second cylinder, a connecting rod, a first insert shovel, and a second insert shovel; The first cylinder is fixed on the frame, the output end of the first cylinder is connected to the first end of the connecting rod, the second end of the connecting rod is connected to the output end of the second cylinder, the first shovel is disposed on the connecting rod, and the second shovel is fixed to one end of the second cylinder.

7. The integrated gripping device as described in claim 1, characterized in that, The frame is mirror-mounted with two lifting platform assemblies, each of which includes: a drive mechanism, a drive shaft, and a material platform gripper; The drive mechanism is located on one side of the frame. The output end of the drive mechanism is connected to the drive shaft. The drive shaft is rotatably mounted on the frame. Both ends of the drive shaft are equipped with material platform grabbers, which are used to grab the material platform.

8. The integrated gripping device as described in claim 7, characterized in that, The drive mechanism includes: a drive cylinder and a drive connecting rod; The drive cylinder is fixed to the frame, the output end of the drive cylinder is connected to the first end of the drive linkage, and the second end of the drive linkage is connected to the drive shaft.

9. The integrated gripping device as described in claim 7, characterized in that, The material suction assembly includes: a material suction plate; The suction plate is rotatably mounted on the drive shaft, the suction cylinder is mounted on the frame, the output end of the suction cylinder is connected to the suction plate, and the vacuum suction cup is fixed on the suction plate.

10. The integrated gripping device as described in claim 1, characterized in that, The frame is equipped with connectors for connecting multi-axis modules.

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