Mechanical arm automatic stacking flexible package grabbing clamp

Abstract

The utility model provides a mechanical arm automatic stacking flexible package grabbing clamp which comprises a transverse plate, a mounting flange is arranged at the top of the transverse plate, a pair of clamping mechanisms are symmetrically and movably arranged on the two sides of the bottom of the transverse plate, each clamping mechanism comprises a moving frame, a rotating rod is rotationally arranged on each moving frame, and the axis direction of each rotating rod is perpendicular to the moving direction of the corresponding clamping mechanism; a plurality of clamping jaws are arranged below the rotating rod in the axis direction of the rotating rod in an array mode and connected with the rotating rod through a connecting block, the top of the connecting block vertically extends upwards to form an ejector rod, an elliptical wheel is rotationally arranged above the ejector rod, the ejector rod is in contact fit with the elliptical wheel, and the elliptical wheel is used for acting on the ejector rod to enable the rotating rod to rotate during rotation. The elliptical wheel is rotationally connected to the moving frame through a rotating shaft, a worm wheel is coaxially installed on the rotating shaft, and the worm wheel is meshed with a corresponding worm. According to the scheme, the working stability and safety are effectively improved, and the practicability is high.

Description

Technical Field

[0001] This application relates to the field of automatic palletizing of flexible packaging, and more particularly to a robotic arm automatic palletizing flexible packaging gripper. Background Technology

[0002] In recent years, industrial robots have developed rapidly. Utilizing industrial robots can help enterprises reduce operating costs, facilitate daily management, and improve production efficiency. Palletizing is an indispensable part of every production process. Traditional palletizing is mostly done manually, but this method cannot meet the needs of modern enterprises. Therefore, palletizing robots are increasingly used. However, in practice, each specification of flexible packaging material corresponds to a specific gripper. The actuator end of the palletizing robot needs to be changed according to the specifications of the flexible packaging material to be gripped, which greatly increases production costs and negatively impacts production efficiency. Furthermore, most existing palletizing robots use cylinders as the driving force for opening and closing the grippers. However, in actual production, if the air pipe connected to the actuator cylinder used to control the opening and closing of the gripper leaks or bursts, the actuator cylinder, lacking self-locking characteristics, can easily cause the gripper to lose its ability to stably hold the material, leading to the material falling and causing an accident. Utility Model Content

[0003] To address the shortcomings of the existing technology, this application provides a robotic arm automatic palletizing and gripping fixture for flexible packaging, which can effectively improve stability and safety during operation and is highly practical.

[0004] To achieve the above objectives, the present invention employs the following technology:

[0005] A robotic arm-driven automatic palletizing and gripping fixture for flexible packaging includes a horizontal plate with a mounting flange on its top. A pair of clamping mechanisms are symmetrically and movably mounted on both sides of the bottom of the horizontal plate. Each clamping mechanism includes a movable frame with a rotating rod rotatably mounted on it. The axis of the rotating rod is perpendicular to the direction of movement of the clamping mechanism. Multiple grippers are arrayed below the rotating rod along its axis, and these grippers are connected to the rotating rod via a connecting block. A top rod extends vertically upward from the top of the connecting block, and an elliptical wheel rotatably mounts above the top rod. The top rod engages with the elliptical wheel, which acts on the top rod during rotation to cause the rotating rod to rotate. The elliptical wheel is rotatably connected to the movable frame via a rotating shaft, on which a worm gear is coaxially mounted, meshing with a corresponding worm.

[0006] The beneficial effects of this utility model are as follows:

[0007] 1. The relative movement of the two clamping mechanisms enables the clamp to be used to grip flexible packaging materials of different sizes, making it highly practical.

[0008] 2. The opening and closing of the gripper is achieved by the rotation of the elliptical wheel to the push rod, and the opening and closing of the gripper has a self-locking characteristic under the cooperation of the worm gear and worm, which improves the stability and safety of the fixture. Attached Figure Description

[0009] The accompanying drawings described herein are merely illustrative of selected embodiments, not all possible implementations, and are not intended to limit the scope of this invention.

[0010] Figure 1 This is a perspective view of the overall structure of an embodiment of this application.

[0011] Figure 2 This is a perspective view of the bottom structure of an embodiment of this application.

[0012] Figure 3 This is a perspective view of the bottom structure of the embodiment of this application without the clamping mechanism installed.

[0013] Figure 4 This is a perspective view of the overall structure of the clamping mechanism in the embodiments of this application.

[0014] Figure 5 This is a perspective view of the overall structure of the clamping mechanism in the embodiments of this application.

[0015] Figure 6 This is a schematic diagram of the meshing relationship between the worm gear and the worm in an embodiment of this application. Detailed Implementation

[0016] To make the objectives, technical solutions and advantages of the present utility model clearer, the implementation methods of the present utility model will be described in detail below with reference to the accompanying drawings. However, the embodiments described in the present utility model are only some embodiments of the present utility model, and not all embodiments.

[0017] This application provides an automated palletizing and gripping fixture for flexible packaging using a robotic arm, such as... Figures 1-6 As shown, it includes a horizontal plate 1, a pair of clamping mechanisms 2, a mounting flange 3, etc.

[0018] Mounting flange 3 is located at the top of horizontal plate 1 to facilitate connection with the robotic arm.

[0019] A pair of clamping mechanisms 2 are respectively located on both sides of the bottom of the horizontal plate 1, symmetrically arranged and movable relative to each other. The clamping mechanism 2 includes a movable frame 21, on which a rotating rod 22 is rotatably mounted. The axis of the rotating rod 22 is perpendicular to the moving direction of the clamping mechanism 2. Multiple grippers 23 are arranged in an array below the rotating rod 22 along its axis. The multiple grippers 23 are connected to the rotating rod 22 by a connecting block 24. A top rod 241 extends vertically upward from the top of the connecting block 24. An elliptical wheel 25 is rotatably mounted above the top rod 241. The top rod 241 and the elliptical wheel 25 are in contact and engaged. The elliptical wheel 25 is used to act on the top rod 241 during rotation to make the rotating rod 22 rotate. The elliptical wheel 25 is rotatably connected to the movable frame 21 through a rotating shaft. A worm gear 26 is coaxially mounted on the rotating shaft. The worm gear 26 meshes with a corresponding worm 27. The worm 27 is driven to rotate by a first motor mounted on the movable frame 21.

[0020] In application, the robotic arm moves the horizontal plate 1 to the material gripping position. The distance between the two gripping mechanisms 2 is adjusted according to the different specifications of the flexible packaging material. Then, the worm gears 27 corresponding to the two gripping mechanisms 2 are driven to rotate at the same speed. The rotation of the worm gears 27 drives the worm wheel 26 to rotate, the rotation of the worm wheel 26 drives the elliptical wheel 25 to rotate, the rotation of the elliptical wheel 25 pushes the top rod 241 to rotate, and the rotation of the top rod 241 drives the rotating rod 22 to rotate, realizing the synchronous opening and closing of the grippers 23, thereby realizing the gripping or release of the flexible packaging material.

[0021] Specifically, such as Figures 1-3 As shown, vertical plates 4 extend downwards on both sides of the horizontal plate 1 and the clamping mechanism 2, which are parallel to the direction of movement. The vertical plate 4 is provided with a double-headed screw 41 that rotates along its length. The moving frames 21 corresponding to the two clamping mechanisms 2 are symmetrically threaded through the two ends of the double-headed screw 41. The double-headed screw 41 is driven to rotate by a second motor installed on the vertical plate 4.

[0022] Specifically, such as Figure 3 As shown, a mounting base 5 is provided below the horizontal plate 1. A cylinder 6 is vertically mounted on the mounting base 5. The output end of the cylinder 6 is connected to two pressure plates 62 through a connecting plate 61. The pressure plates 62 are used to press the soft packaging material to prevent the soft packaging material from slipping out from between the claws 23 on both sides. In this process, the packaging bag can also be shaped.

[0023] Specifically, the gripper 23 is covered with a rubber sleeve, which increases the friction of the gripper 23 while preventing it from puncturing the packaging bag, thereby improving the stability of the clamp when holding the soft packaging material.

[0024] Specifically, such as Figures 4-6As shown, when the elliptical wheel 25 rotates to a position where its major axis is parallel to the direction of movement of the clamping mechanism 2, the push rod 241 is in a vertical state and its top abuts against one end of the minor axis of the elliptical wheel 25. During operation, when the elliptical wheel 25 rotates outward, it pushes the push rod 241 to rotate the rotating rod 22 inward, thereby causing the gripper 23 to close inward; when the elliptical wheel 25 rotates inward, it pushes the push rod 241 to rotate the rotating rod 22 outward, thereby causing the gripper 23 to open outward.

[0025] Specifically, the rotating parts of the movable frame 21 and the rotating rod 22 are equipped with torsion springs. When the torsion springs are in their natural state, the top rod 241 is in a vertical state, so that when the elliptical wheel 25 rotates and acts on the top rod 241, the top rod 241 always maintains a tendency to return to a vertical state. That is, when the elliptical wheel 25 rotates outward, the elliptical wheel 25 pushes the top rod 241 to rotate inward until the gripper 23 rotates to a certain angle, causing the elliptical wheel 25 to stop rotating. At this time, the top rod 241 maintains a tendency to return to a vertical state under the action of the torsion spring and cannot continue to rotate inward. Moreover, under the self-locking characteristics of the worm gear 26 and worm 27, the elliptical wheel 25 cannot continue to rotate. Thus, under the limit of the elliptical wheel 25, the top rod 241 always remains in contact with the elliptical wheel 25, thereby improving the stability of the clamp when gripping soft packaging materials.

[0026] In application, the above description is only a preferred embodiment of this application and is not intended to limit this application. Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application.

Claims

1. A robotic arm automatic palletizing and gripping fixture for flexible packaging, characterized in that, The device includes a horizontal plate (1) with a mounting flange (3) on its top. A pair of clamping mechanisms (2) are symmetrically arranged on both sides of the bottom of the horizontal plate (1) and move relative to each other. The clamping mechanism (2) includes a movable frame (21) with a rotating rod (22) rotatably mounted on it. The axis of the rotating rod (22) is perpendicular to the moving direction of the clamping mechanism (2). Multiple grippers (23) are arranged in an array below the rotating rod (22) along its axis. The multiple grippers (23) are connected to the rotating rod (22) through a connecting block (24). A top rod (241) extends vertically upward from the top of the connecting block (24). An elliptical wheel (25) is rotatably mounted above the top rod (241). The top rod (241) and the elliptical wheel (25) are in contact and engage. The elliptical wheel (25) is used to act on the push rod (241) during rotation to make the rotating rod (22) rotate. The elliptical wheel (25) is rotatably connected to the moving frame (21) through the rotating shaft. The worm wheel (26) is coaxially mounted on the rotating shaft, and the worm wheel (26) meshes with the corresponding worm (27).

2. The robotic arm automatic palletizing flexible packaging gripper according to claim 1, characterized in that, A vertical plate (4) extends downward on both sides of the horizontal plate (1) and the clamping mechanism (2) in the direction of movement. The vertical plate (4) is provided with a double-headed screw (41) that rotates along its length. The moving frames (21) corresponding to the two clamping mechanisms (2) are symmetrically threaded through the two ends of the double-headed screw (41).

3. The robotic arm automatic palletizing flexible packaging gripper according to claim 1, characterized in that, Below the horizontal plate (1) is a mounting base (5), on which a cylinder (6) is vertically mounted. The output end of the cylinder (6) is connected to two pressure plates (62) via a connecting plate (61). The pressure plates (62) are used to press the soft packaging material.

4. The robotic arm automatic palletizing flexible packaging gripper according to claim 1, characterized in that, The gripper (23) is covered with a rubber sleeve.

5. The robotic arm automatic palletizing flexible packaging gripper according to claim 1, characterized in that, When the elliptical wheel (25) rotates to the point where its major axis is parallel to the direction of movement of the clamping mechanism (2), the push rod (241) is in a vertical state and its top abuts against one end of the minor axis of the elliptical wheel (25).

6. The robotic arm automatic palletizing flexible packaging gripper according to claim 5, characterized in that, The rotating parts of the movable frame (21) and the rotating rod (22) are equipped with torsion springs. When the torsion spring is in its natural state, the top rod (241) is in a vertical state.

Images