Mechanical arm tail end clamp for stacking box body

Abstract

The mechanical arm tail end clamp comprises a stacking supporting frame body and stacking supporting plates arranged on the two sides of the stacking supporting frame body, a feeding port is formed in one side of the bottom of the stacking supporting frame body, and sliding guide mechanisms are arranged outside the two sides of the stacking supporting frame body. Supporting rolling shafts are connected between the adjacent sliding guide mechanisms in a hinged mode, the sum of the areas of the multiple supporting rolling shafts is matched with the cross sectional area of the bottom of the stacking supporting frame body, and a clamping mechanism used for clamping objects to be stacked is further arranged in the stacking supporting frame body. When a plurality of box bodies are stacked at the same time, the box bodies to be stacked are continuously conveyed to the surfaces of a plurality of supporting rolling shafts until the bottom surface of a stacking supporting frame body is filled with the box bodies, and then the two side faces of the box bodies are clamped by the clamping mechanism; in addition, the supporting rolling shafts can support the bottoms of the box bodies, so that the box bodies cannot shake or fall off.

Description

Technical Field

[0001] This utility model relates to the field of palletizing equipment technology, and specifically to a robotic arm end clamp for palletizing boxes. Background Technology

[0002] The grippers in a palletizing robot arm are key components for material handling and stacking. They are typically designed based on the different shapes, sizes, and weights of the materials. Common gripper types include vacuum suction cup grippers, which use vacuum to create negative pressure to grip flat objects, suitable for items with smooth surfaces such as cartons and boards; and mechanical grippers, which rely on the opening and closing of mechanical structures to grasp items, suitable for regularly shaped goods such as plastic bottles and metal parts. In addition, there are composite grippers that combine vacuum suction and mechanical gripping to meet the gripping needs of various materials. The design of the grippers needs to consider the stability of the connection with the robot arm, load capacity, and the flexibility of quick replacement to improve palletizing efficiency and adapt to different production tasks.

[0003] Authorization announcement number CN113371471B discloses a palletizing device and palletizing system for palletizing packaging boxes. According to its specification and drawings, the scheme has two clamping mechanisms symmetrically arranged on the center line of the length direction of the mounting frame. The clamping device includes two clamping mechanisms arranged side by side and spaced apart in the length direction of the mounting frame. A clamping space is formed between the two clamping mechanisms located below the mounting frame. The two clamping mechanisms can move relative to each other along the length direction of the mounting frame to clamp and release the packaging box.

[0004] However, when this clamping mechanism is used to clamp multiple boxes, the friction between adjacent boxes is low, and even if they are clamped tightly, there is still a risk of them falling off or misaligning, which brings inconvenience to the clamping process. Summary of the Invention

[0005] This invention addresses the problems existing in the main clamping mechanism when stacking boxes, and proposes a robotic arm end clamp for stacking boxes. When stacking multiple boxes simultaneously, the boxes to be stacked are continuously transported to the surface of several support rollers until the bottom surface of the stacking support frame is filled. Then, two clamping support frames move towards the center at the same time, gradually clamping the two sides of the box. In addition, the aforementioned support rollers can support the bottom of the box, ensuring that the robotic arm will not cause several boxes to shake or fall during the stacking and position adjustment process.

[0006] The objective of this invention is achieved through the following technical solution: a robotic arm end effector for palletizing boxes, comprising a palletizing support frame, palletizing support plates disposed on both sides of the palletizing support frame, a feed inlet on one side of the bottom of the palletizing support frame, the maximum length of the item to be palletized being able to pass through the feed inlet into the interior of the palletizing support frame, sliding guide mechanisms disposed on both sides of the palletizing support frame, support rollers hinged between adjacent sliding guide mechanisms, the sum of the areas of several support rollers being adapted to the cross-sectional area of ​​the bottom of the palletizing support frame, and a clamping mechanism for clamping the item to be palletized being disposed inside the palletizing support frame.

[0007] Preferably, the sliding guide mechanism includes guide gears, a metal chain, and a roller support plate. Several guide gears are hinged to the inner side of the stacking support plate, and a metal chain is provided around the surface of the guide gears. The metal chain is provided with a roller support plate near the inside of the stacking support frame and is hinged to a support roller. The position of each support roller changes as the metal chain moves.

[0008] Preferably, the bottom of the palletizing support frame is provided with a chain guide plate, and the inside of the chain guide plate is provided with a chain groove that allows the metal chain to slide.

[0009] Preferably, the top of the palletizing support frame is provided with a motor support plate, and the motor support plate is provided with a drive motor. The drive shaft of the drive motor is connected to the interior of any one of the guide gears inside each sliding guide mechanism.

[0010] Preferably, the clamping mechanism includes clamping support arms, guide rollers, a drive belt, a clamping drive block, and a clamping support frame. A plurality of clamping support arms are connected to the top inner side of the palletizing support frame. A plurality of guide rollers are provided at the bottom of each clamping support arm. A drive belt is provided on the surface between the guide rollers on the same clamping support arm. A clamping drive block is provided on the drive belt. A plurality of clamping support frames are slidably connected to the clamping support arms. The top of each clamping support frame is connected to the clamping drive block, and the clamping support frame moves as the clamping drive block moves.

[0011] Preferably, each clamping support frame has a cylinder support plate inside, and every two cylinder support plates are respectively connected to the two ends of the drive cylinder. When the piston rod of the drive cylinder slides, it can drive each clamping support frame to slide relative to the clamping support arm.

[0012] Preferably, each of the clamping support arms is provided with a clamping slide rail on its side, and the top of the clamping support frame is connected to the inside of the clamping slide rail by a slider. This arrangement is to realize the sliding connection between the clamping support frame and the clamping support arm.

[0013] Preferably, the distance between adjacent clamping support frames is less than the length of the support roller. This arrangement is to facilitate the subsequent clamping support frames to effectively clamp the material on the surface of the support roller.

[0014] Compared with the prior art, this utility model has the following beneficial effects: 1. When stacking multiple boxes simultaneously, the boxes to be stacked are continuously transported to the surface of several support rollers until the bottom surface of the stacking support frame is filled. Then, two clamping support frames move towards the center simultaneously, gradually clamping the two sides of the box. In addition, the aforementioned support rollers can support the bottom of the box. Thus, the robotic arm will not cause several boxes to shake or fall during the stacking adjustment process, improving the accuracy and safety of stacking; 2. After the robotic arm is positioned and aligned with the surface of the material tray, the drive motor drives the guide gear to make the metal chain start to move. The metal chain drives these support rollers to gradually move from the bottom surface of the stacking support frame to the side. During the movement, the support rollers gradually lose support for the box, causing the box to fall onto the surface of the material tray in an orderly manner, improving the accuracy of box stacking. Attached Figure Description

[0015] Figure 1 This is a perspective view of the present utility model;

[0016] Figure 2 This is a partial perspective view of the present invention;

[0017] Figure 3 This is a perspective view of the present utility model;

[0018] Figure 4 For the present utility model Figure 3 Enlarged view of a portion of point A in the middle;

[0019] Figure 5 This is a perspective view of the present utility model;

[0020] Figure 6 For the present utility model Figure 5 Enlarged view of section B in the middle.

[0021] The diagram shows the following markings: 1. Palletizing support frame; 11. Palletizing support plate; 12. Feed inlet; 13. Chain guide plate; 2. Sliding guide mechanism; 21. Guide gear; 22. Metal chain; 23. Roller support plate; 24. Motor support plate; 25. Drive motor; 3. Support roller; 4. Clamping mechanism; 41. Clamping support arm; 42. Guide roller; 43. Drive belt; 44. Clamping drive block; 45. Clamping support frame; 46. Drive cylinder; 411. Clamping slide rail; 451. Cylinder support plate. Detailed Implementation

[0022] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0023] like Figures 1 to 6 As shown, a robotic arm end effector for palletizing boxes includes a palletizing support frame 1, palletizing support plates 11 disposed on both sides of the palletizing support frame 1, a feed inlet 12 provided on one side of the bottom of the palletizing support frame 1, the maximum length of the item to be palletized can pass through the feed inlet 12 into the interior of the palletizing support frame 1, sliding guide mechanisms 2 are provided on the outer sides of both sides of the palletizing support frame 1, and support rollers 3 are hinged between adjacent sliding guide mechanisms 2, the sum of the areas of a plurality of support rollers 3 being adapted to the cross-sectional area of ​​the bottom of the palletizing support frame 1.

[0024] In this embodiment, the sliding guide mechanism 2 includes guide gears 21, a metal chain 22, and a roller support plate 23. Several guide gears 21 are hinged to the inner side of the stacking support plate 11. A metal chain 22 is arranged around the surface of the guide gears 21. The metal chain 22 is located near the interior of the stacking support frame 1 and is hinged to the roller support plate 23, with each support roller 3 having a position that changes as the metal chain 22 moves. A motor support plate 24 is located at the top of the stacking support frame 1, and a drive motor 25 is mounted on the motor support plate 24. The drive shaft of the drive motor 25 is connected to the interior of any one of the guide gears 21 within each sliding guide mechanism 2. A chain guide plate 13 is located at the bottom of the stacking support frame 1, and the interior of the chain guide plate 13 has a chain groove that allows the metal chain 22 to slide.

[0025] An external conveyor is aligned with the feed inlet 12 and continuously transports the boxes to be stacked to the surface of several support rollers 3. When a new box enters the surface of the support rollers 3, it will gradually squeeze the previous box, causing the previous box to slide continuously into the interior of the stacking support frame 1 under the sliding guidance of the support rollers 3, until the bottom surface of the stacking support frame 1 is filled.

[0026] Since the entire clamp is installed at the end of the robotic arm, after the robotic arm is positioned and aligned with the surface of the material pallet, the drive shaft of the drive motor 25 drives the guide gear 21 to rotate. During the rotation of the guide gear 21, the metal chain 22 begins to move. The metal chain 22 slides inside the chain guide plate 13 during its movement. Ultimately, the metal chain 22 causes the support rollers 3 to gradually move from the bottom surface of the stacking support frame 1 to the side. As the support rollers 3 move, they gradually lose support for the box, causing the boxes to fall onto the surface of the material pallet in an orderly manner.

[0027] The palletizing support frame 1 is further provided with a clamping mechanism 4 for clamping the items to be palletized. Specifically, the clamping mechanism 4 includes a clamping support arm 41, guide rollers 42, a drive belt 43, a clamping drive block 44, and a clamping support frame 45. Several clamping support arms 41 are connected to the top inner side of the palletizing support frame 1. Several guide rollers 42 are provided at the bottom of each clamping support arm 41. A drive belt 43 is provided on the surface between several guide rollers 42 on the same clamping support arm 41. A clamping drive block 44 is provided on the drive belt 43. Two clamping support frames 45 are slidably connected to the clamping support arm 41. The top of the clamping support frame 45 is connected to the clamping drive block 44. The clamping support frame 45 moves with the movement of the clamping drive block 44. Each clamping support frame 45 has a cylinder support plate 451 inside. Every two cylinder support plates 451 are respectively connected to the two ends of the drive cylinder 46. When the piston rod of the drive cylinder 46 slides, it can drive each clamping support frame 45 to slide relative to the clamping support arm 41. Each clamping support arm 41 has a clamping slide rail 411 on its side. The top of the clamping support frame 45 is connected to the inside of the clamping slide rail 411 by a slider. The distance between adjacent clamping support frames 45 is less than the length of the support roller 3.

[0028] As the items to be stacked gradually fill the bottom surface of the stacking support frame 1, the piston rod of the drive cylinder 46 retracts, transmitting force to the clamping support frames 45 on both sides via the cylinder support plate 451. During the sliding of one clamping support frame 45, it drives one clamping drive block 44, which in turn moves the drive belt 43. The drive belt 43, in turn, drives the other clamping drive block 44, causing the other clamping support frame 45 to also begin sliding. The two clamping support frames 45 then move towards the center simultaneously, gradually clamping the two sides of the box. Combined with the aforementioned support roller 3 supporting the bottom of the box, this ensures that no boxes will shake or fall during the stacking adjustment process.

[0029] Working principle and usage of this utility model:

[0030] An external conveyor is aligned with the feed inlet 12 and continuously transports the boxes to be stacked to the surface of several support rollers 3. When a new box enters the surface of the support rollers 3, it will gradually squeeze the previous box, causing the previous box to slide continuously into the interior of the stacking support frame 1 under the sliding guidance of the support rollers 3, until the bottom surface of the stacking support frame 1 is filled.

[0031] Next, the piston rod of the drive cylinder 46 retracts, and the force is transmitted to the clamping support frames 45 on both sides via the cylinder support plate 451. During the sliding of one of the clamping support frames 45, it drives one of the clamping drive blocks 44, which in turn drives the drive belt 43 to move. During the movement of the drive belt 43, it drives the other clamping drive block 44, causing the other clamping support frame 45 to also begin to slide. The two clamping support frames 45 will then move towards the center simultaneously, gradually clamping the two sides of the box. In addition, the aforementioned support roller 3 can support the bottom of the box, thus ensuring that some boxes will not shake or fall during the stacking and adjustment process.

[0032] After the robotic arm is positioned and aligned with the material pallet surface, the drive shaft of the drive motor 25 drives the guide gear 21 to rotate. During this rotation, the metal chain 22 begins to move. The metal chain 22 slides inside the chain guide plate 13. Ultimately, the metal chain 22 causes the support rollers 3 to gradually move from the bottom surface of the palletizing support frame 1 to the side. As they move, the support rollers 3 gradually lose support for the boxes, causing the boxes to fall sequentially and orderly onto the surface of the material pallet.

[0033] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A mechanical arm end clamp for stacking a box, comprising a stacking support frame (1), a stacking support plate (11) arranged on both sides of the stacking support frame (1), characterized in that, The bottom side of the stacking support frame (1) is provided with a feeding port (12), the maximum length of the to-be-stacked articles can pass through the feeding port (12) and enter the inside of the stacking support frame (1), the two sides of the stacking support frame (1) are provided with sliding guide mechanisms (2), the adjacent sliding guide mechanisms (2) are hingedly connected with support rollers (3), the sum of the areas of the support rollers (3) is adapted to the cross-sectional area of the bottom of the stacking support frame (1), and the inside of the stacking support frame (1) is further provided with a clamping mechanism (4) for clamping the to-be-stacked articles.

2. The mechanical arm end effector for palletizing boxes of claim 1, wherein, The sliding guide mechanism (2) comprises a guide gear (21), a metal chain (22) and a roller support plate (23), the inner side of the stacking support plate (11) is hingedly connected with a plurality of guide gears (21), the metal chain (22) is arranged around the surface of the guide gear (21), the metal chain (22) is provided with the roller support plate (23) close to the inside of the stacking support frame (1) and is hingedly connected with the support roller (3), and the position of each support roller (3) changes with the movement of the metal chain (22).

3. The mechanical arm end effector for palletizing boxes of claim 2, wherein, The bottom of the stacking support frame (1) is provided with a chain guide plate (13), and the inside of the chain guide plate (13) is provided with a chain sliding groove allowing the metal chain (22) to slide.

4. The mechanical arm end effector for palletizing boxes of claim 3, wherein, The top of the stacking support frame (1) is provided with a motor support plate (24), the motor support plate (24) is provided with a driving motor (25), and the driving shaft of the driving motor (25) is connected to the inside of any one of the guide gears (21) in each sliding guide mechanism (2).

5. The mechanical arm end effector gripper for palletizing boxes of claim 1, wherein, The clamping mechanism (4) comprises a clamping support arm (41), a guide roller (42), a driving belt (43), a clamping driving block (44) and a clamping support frame (45), the top inner side of the stacking support frame (1) is connected with a plurality of clamping support arms (41), the bottom of each clamping support arm (41) is provided with a plurality of guide rollers (42), the surfaces between a plurality of guide rollers (42) on the same clamping support arm (41) are provided with a driving belt (43), the driving belt (43) is provided with a clamping driving block (44), a plurality of clamping support frames (45) are slidably connected to the clamping support arm (41), the top of the clamping support frame (45) is connected to the clamping driving block (44), and the clamping support frame (45) moves with the movement of the clamping driving block (44).

6. The mechanical arm end effector gripper for palletizing boxes of claim 5, wherein, The inside of each clamping support frame (45) is provided with a cylinder support plate (451), and every two cylinder support plates (451) are respectively connected to the two ends of a driving cylinder (46), so that the sliding of the piston rod of the driving cylinder (46) can drive each clamping support frame (45) to slide relative to the clamping support arm (41).

7. The mechanical arm end effector for palletizing boxes of claim 6, wherein, The side surface of each clamping support arm (41) is provided with a clamping sliding rail (411), and the top of the clamping support frame (45) is connected to the inside of the clamping sliding rail (411) through a sliding block.

8. The mechanical arm end effector for palletizing boxes of claim 5, wherein, The distance between adjacent clamping support frames (45) is less than the length of the support roller (3).

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