Stacking gripper for easy-open lids

Abstract

The utility model discloses an easy-open lid stacking gripper which comprises a pallet height detection device used for detecting the height of a pallet, the pallet height detection device comprises a detection mechanism and a detection plate, the detection mechanism comprises a mechanical telescopic mechanism and an inductor, and the detection plate is arranged at the tail end of the mechanical telescopic mechanism; before stacking, the stacking gripper drives the detection plate to move downwards from the preset position to make contact with the upper surface of the pallet, and in the process, the sensor detects the height of the pallet by sensing the stretching and retracting positions of the mechanical telescopic mechanism. According to the utility model, a mechanical telescopic structure is adopted to detect the height of an actual pallet before stacking, and a safe stacking point is adjusted according to the detected actual height, so that the problem of collision of a robot stacking gripper caused by different heights of pallets can be effectively avoided.

Description

Technical Field

[0001] This utility model relates to the field of easy-open lid palletizing and storage, specifically to an easy-open lid palletizing gripper. Background Technology

[0002] Because of the high production speed of easy-open cans, the packaged cans need to be removed from the packaging device promptly to facilitate subsequent palletizing and storage. Although palletizing and storage is the last step in the entire easy-open can production line, it is equally crucial, as the overall production speed requires the stable output of each machine to be guaranteed.

[0003] Before palletizing the easy-open lids, the pallets to be palletized need to be prepared in advance. Then, the robot drives the palletizing gripper to stack the packaged lids onto the pallets, accumulating them layer by layer into stacks. However, in terms of palletizing stability, the height and flatness of the pallets directly affect the palletizing effect and efficiency; especially with wooden pallets, because it is difficult to guarantee the precision of wood processing, the height consistency of the pallets is very poor, but the robot's palletizing points are consistent. If the deviation exceeds a certain range, the palletizing gripper will collide with the pallet or the pallet will tilt, requiring manual intervention, causing the packaging device to stop and affecting the palletizing efficiency.

[0004] Therefore, it is essential to design a palletizing gripper that can automatically detect pallet height to avoid or reduce human intervention and downtime, thereby greatly improving palletizing and storage efficiency. Utility Model Content

[0005] The main purpose of this utility model is to provide an easy-open lid palletizing gripper, thereby overcoming the shortcomings of the prior art.

[0006] To achieve the aforementioned objective, the technical solution adopted by this utility model includes: an easy-open lid palletizing gripper, comprising a pallet height detection device for detecting pallet height, wherein the pallet height detection device comprises:

[0007] The detection mechanism includes a mechanical telescopic mechanism and a sensor;

[0008] A detection plate is disposed at the end of the mechanical telescopic mechanism;

[0009] Before palletizing, the palletizing gripper moves the detection plate from a preset position to contact the upper surface of the pallet. During this process, the sensor detects the height of the pallet by sensing the extension and retraction positions of the mechanical telescopic mechanism.

[0010] In a preferred embodiment, the mechanical telescopic mechanism is a spring telescopic mechanism or a pneumatic telescopic mechanism.

[0011] In a preferred embodiment, the mechanical telescopic mechanism changes from an initial retracted state to an extended state after the detection plate moves to the preset position, triggering the sensor; and returns to the retracted state after the detection plate contacts the upper surface of the pallet, triggering the sensor again.

[0012] In a preferred embodiment, after detecting the height of the pallet, the palletizing gripper moves the detection plate upward by a fixed palletizing distance to the palletizing point.

[0013] In a preferred embodiment, the sensor includes at least one first sensor and at least one second sensor, wherein the first sensor is triggered when the mechanical telescopic mechanism is in the extended state and the second sensor is triggered when it is in the retracted state.

[0014] In a preferred embodiment, the palletizing gripper further includes a gripper frame assembly, and the pallet height detection device further includes a fixing plate, wherein the pallet height detection device is fixed to the gripper frame assembly via the fixing plate.

[0015] In a preferred embodiment, the palletizing gripper further includes at least one cover gripping component disposed on the gripper frame assembly, for at least gripping and releasing the easy-open cover assembly.

[0016] In a preferred embodiment, the palletizing gripper includes a plurality of the cover gripping assemblies, which are disposed on both sides of the pallet height detection device.

[0017] In a preferred embodiment, the cap gripping assembly includes a cap clamping assembly and a cap pushing assembly. The cap clamping assembly includes a driving mechanism and at least one set of clamping assemblies. Each set of clamping assemblies includes two oppositely arranged cap clamps. The cap clamps are tractively connected to the driving mechanism and can rotate around a selected axis or move linearly in a selected direction under the drive mechanism, thereby clamping and fixing the easy-open cap assembly between the two cap clamps or disengaging the easy-open cap assembly from the cap clamps. The selected direction is the direction in which one of the two cap clamps points to the other. The cap pushing assembly includes a push plate, which is disposed between the two cap clamps of the set of clamping assemblies and is used at least to press down the easy-open cap assembly.

[0018] In a preferred embodiment, the cap-grabbing assembly further includes at least one buffer component, the buffer component including an elastic element for providing cushioning force when the cap-grabbing assembly grips and releases the pull-tab assembly.

[0019] Compared with the prior art, the beneficial effects of this utility model are at least as follows:

[0020] This utility model provides a self-detecting pallet height easy-open lid palletizing gripper. By using a mechanical telescopic structure to detect the actual height of the pallet before palletizing, and adjusting the safety palletizing point according to the detected actual height, it can effectively avoid the occurrence of robot palletizing gripper collision problems caused by different pallet heights.

[0021] This invention uses a mechanical telescopic structure to detect the height of the pallet instead of a photoelectric laser sensor for distance measurement, thus avoiding measurement errors caused by materials, light, etc., and the structure is simple and practical. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a side view of a palletizing gripper for easy-open lids provided in a typical embodiment of this utility model;

[0024] Figure 2 This is a structural diagram of the gripper frame component;

[0025] Figure 3 This is a schematic diagram of the pallet height detection device;

[0026] Figure 4 This is a schematic diagram showing the mechanical telescopic mechanism not extended before the pallet height is detected;

[0027] Figure 5 This is a schematic diagram showing the extended state of the mechanical telescopic mechanism before pallet height detection;

[0028] Figure 6 This is a schematic diagram showing the state of the detection plate contacting the upper surface of the pallet during pallet height detection;

[0029] Figure 7 This is a schematic diagram of the pallet height detection location points;

[0030] Figure 8 This is a structural diagram of the cover gripping assembly;

[0031] Figure label:

[0032] 1. Gripper frame assembly; 11. Robot connecting flange; 12. Gripper frame; 13. Suspension bracket; 2. Pallet height detection device; 21. Fixing plate; 22. Detection mechanism; 221. Mechanical telescopic mechanism; 222. First sensor; 223. Second sensor; 23. Detection plate; 3. Cover gripping assembly; 31. Fixing bracket; 32. Cover clamping assembly; 321. Drive mechanism; 322. Cover clamping plate; 33. Cover pushing assembly; 331. Push plate; 34. Buffer assembly; 341. Elastic element; 4. Pallet; 5. Easy-open cover assembly. Detailed Implementation

[0033] The present invention will be more fully understood through the following detailed description, which should be read in conjunction with the accompanying drawings. Detailed embodiments of the present invention are disclosed herein; however, it should be understood that the disclosed embodiments are merely exemplary and that the present invention may be embodied in various forms. Therefore, the specific functional details disclosed herein should not be construed as limiting, but rather as the basis for the claims and as a representative basis for teaching those skilled in the art to employ the present invention in different ways in any suitable detailed embodiment.

[0034] like Figure 1 As shown in the figure, the easy-open lid palletizing gripper disclosed in this utility model embodiment mainly includes a gripper frame assembly 1, a pallet height detection device 2 and a lid gripping assembly 3 installed on the gripper frame assembly 1. The pallet height detection device 2 is used to detect the actual height of the pallet 4 before palletizing, and the lid gripping assembly 3 is used to grip and release the easy-open lid assembly 5 onto the pallet 4 for palletizing during palletizing.

[0035] like Figure 2 As shown, in this embodiment, the gripper frame assembly 1 mainly includes a robot connecting flange 11, a gripper frame 12, and a suspension bracket 13. The robot connecting flange 11 connects the palletizing gripper to a robot (not shown), the gripper frame 12 is connected to the robot connecting flange 11, and the suspension bracket 13 is connected to the gripper frame 12. The suspension bracket 13 and the gripper frame 12 are the main connecting components of the entire palletizing gripper, and all other components are connected to them.

[0036] Combination Figure 1 and Figure 3 As shown, the pallet height detection device 2 is fixed to the gripper frame assembly 1, specifically to the bottom of the gripper frame 12. In this embodiment, it mainly includes a fixing plate 21, a detection mechanism 22, and a detection plate 23. The fixing plate 21 is located at the top of the detection mechanism 22 and is fixed to the bottom of the gripper frame 12, meaning the pallet height detection device 2 is fixed to the gripper frame assembly 1 via the fixing plate 21. The detection plate 23 is fixed to the end of the detection mechanism 22.

[0037] In this invention, the detection mechanism 22 specifically includes a mechanical telescopic mechanism 221 and a sensor, which work together to detect the height of the pallet 4 before stacking. Preferably, the detection telescopic mechanism 221 uses a spring telescopic mechanism or a pneumatic telescopic mechanism, rather than a photoelectric laser sensor for distance measurement. This is because laser sensors are greatly affected by the surrounding environment and the texture or material of the detection surface. The mechanical detection mechanism of this invention is safe and reliable, and is not affected by these factors, thus avoiding measurement errors caused by materials, light, etc.

[0038] The sensor is used to sense the extended and retracted positions of the mechanical telescopic mechanism 221, thereby detecting the height of the pallet 4. Preferably, the sensor of this invention adopts a dual-sensor structure, which can avoid the problem of inaccurate detection if one sensor fails. Specifically, it includes at least one first sensor 222 and at least one second sensor 223, wherein the first sensor 222 and the second sensor 223 are arranged vertically on the mechanical telescopic mechanism 221, and the first sensor 222 is triggered when the mechanical telescopic mechanism 221 is in the extended state, and the second sensor 223 is triggered when the mechanical telescopic mechanism 221 is in the retracted state. In this embodiment, four sensors are specifically provided, including two first sensors 222 and two second sensors 223. Of course, the number of sensors is not limited to two or four as shown here, and can be set according to actual needs. The principle of the sensor sensing position can be referred to the principle of the magnetic switch of the cylinder detecting position, which will not be elaborated here.

[0039] Combination Figures 4-6 As shown, the principle of the detection mechanism 22 in detecting the height of the pallet 4 is as follows: Before palletizing, when the robot moves the palletizing gripper above the pallet 4, the robot will first stop at a pre-set position A. The height of point A from the upper surface of the pallet 4 is approximately H. At this time, the mechanical telescopic mechanism 221 in the pallet height detection device changes from its initial non-extended (i.e., retracted) state to an extended state, triggering the first sensor. Then, the robot moves along the Z-axis (i.e., perpendicular to the pallet 4) towards the Z-direction (i.e., downward) until the detection plate 23 of the pallet height detection device 2 contacts the upper surface of the pallet 4 (defined as point B). Then, the robot continues to descend a certain distance along the Z-axis towards the Z-direction (i.e., the mechanical telescopic mechanism 221 retracts), triggering the second sensor in the detection mechanism 22. The actual height H2 of the pallet 4 is obtained by the positions detected by the first and second sensors.

[0040] After the robot's palletizing gripper detects the height of pallet 4, it performs height compensation based on the difference between the actual height H2 of pallet 4 and the standard pallet height H1, resulting in a fixed palletizing distance. This fixed palletizing distance is the compensated palletizing distance based on the height difference, preventing gripper collisions caused by height deviations of pallet 4 during palletizing. Specifically, combined with... Figure 7 As shown, the robot will continue to move the detection plate 23 along the Z-axis from Z- to Z+ (i.e., upward movement) a fixed palletizing distance to the palletizing point. At this time, the sensor of the detection mechanism has no signal, and the mechanical telescopic mechanism 221 retracts. The palletizing point position at this time is the actual safety cover position of the pallet. If it moves upward by 100mm after detection, the palletizing gripper will move 100mm in the Z+ direction. This 100mm is preset, but because the height of the pallet 4 is different, the stopping position may not be the same each time.

[0041] If the actual height H2 of the pallet is greater than the standard pallet height H1, it means that the current position of point B is higher than the original position of point B on the standard pallet. The robot then moves along the Z-axis from the Z- direction to the Z+ direction to point D. There will be a height difference between point D and the original preset return point C (the palletizing point of the standard pallet). This height difference represents the difference between the increased actual height of the pallet and the standard pallet. The robot moves the palletizing gripper from the preset return point C towards the Z+ direction by this height difference. At this point, point D represents the increased pallet height. The subsequent palletizing point; similarly, when the actual height H2 of the pallet is less than the standard pallet height H1, it means that the current position of point B is lower than the original position of point B on the standard pallet. The robot then moves along the Z-axis from the Z+ direction to the Z- direction to point E. There will be a height difference between point E and the original preset return point C. This height difference is the difference between the lowered actual pallet and the standard pallet. The robot then moves the palletizing gripper from the preset return point C towards the Z- direction by this height difference. This point is the palletizing point after the pallet has been lowered. Figure 7 As shown, the robot's Z-axis at point C is defined as Z+ upwards and Z- downwards.

[0042] Combination Figure 1 and Figure 8As shown, the cover gripping assembly 3 is disposed on the gripper frame assembly 1, and is used at least for gripping and releasing the easy-open cover assembly 5. In this embodiment, two cover gripping assemblies 3 are provided, one on each side of the pallet height detection device 2. Each cover gripping assembly 3 specifically includes a fixed bracket 31 and a cover clamping assembly 32 suspended on the fixed bracket 31, at least one cover pushing assembly 33, and at least one buffer assembly 34. The cover clamping assembly 32 includes a drive mechanism 321 and at least one set of clamping assemblies. Each set of clamping assemblies includes two cover clamping plates 322 disposed opposite to each other. The cover clamping plates 322 are connected to the drive mechanism 321 and can rotate around a selected axis or move linearly in a selected direction under the drive of the drive mechanism 321, thereby clamping and fixing the easy-open cover assembly 5 between the two cover clamping plates 322 or disengaging the easy-open cover assembly 5 from the cover clamping plates 322. The selected direction is the direction in which one of the two cover clamping plates 322 points to the other. The easy-open cover assembly 5 includes multiple easy-open covers stacked along the selected direction. The push-cap assembly 33 mainly includes a push plate 331, which is positioned between two cap clamping plates 322 of a set of clamping components. When the palletizing gripper is placed above the palletizing stack, the two cap clamping plates 322 of the cap clamping components open, and the push plate 331 of the push-cap assembly 33 extends under the action of its thrust driving mechanism, pressing down the palletized easy-open cap group 5 to prevent rolling and affecting the palletizing effect. The buffer assembly 34 mainly includes an elastic element 341 that provides buffering force when the gripping assembly 3 grasps and releases the easy-open cap group 5, and plays a buffering role during palletizing to prevent overpressure. The specific structure of the gripping assembly 3 is the same as that of the gripping assembly in patent publication number CN219790655U, entitled "A Multi-purpose Easy-open Cap Palletizing Gripper," and can be referred to the description in that patent, so it will not be repeated here.

[0043] This utility model provides a palletizing gripper for easy-open lids, which has the following advantages: 1. This utility model provides a palletizing gripper for easy-open lids that can detect the actual height of the pallet before palletizing by using a mechanical telescopic structure. It adjusts the safety palletizing point based on the detected actual height, effectively avoiding collisions caused by different pallet heights. 2. This utility model uses a mechanical telescopic structure for pallet height detection instead of photoelectric laser sensors for distance measurement, avoiding measurement errors caused by materials, lighting, etc., and has a simple and practical structure.

[0044] All aspects, embodiments, features, and examples of this utility model should be considered illustrative in all respects and are not intended to limit the utility model, the scope of which is defined only by the claims. Other embodiments, modifications, and uses will become apparent to those skilled in the art without departing from the spirit and scope of the claimed utility model.

[0045] The use of titles and sections in this utility model does not imply limitation of this utility model; each section can be applied to any aspect, embodiment or feature of this utility model.

Claims

1. A pop can palletizing gripper characterized by: The palletizing gripper comprises a pallet height detection device for detecting the height of the pallet, the pallet height detection device comprising: a detection mechanism comprising a mechanical telescopic mechanism and a sensor; a detection plate arranged at the end of the mechanical telescopic mechanism; Before palletizing, the palletizing gripper drives the detection plate to move downward from a preset position to contact the upper surface of the pallet, and in the process, the sensor detects the height of the pallet by sensing the extended and retracted positions of the mechanical telescopic mechanism.

2. A pop can palletizing gripper as defined in claim 1, wherein: The mechanical telescopic mechanism is a spring telescopic mechanism or a pneumatic telescopic mechanism.

3. A pop can palletizing gripper as defined in claim 1 wherein: The mechanical telescopic mechanism is converted from an initial retracted state to an extended state after the detection plate moves to the preset position, triggering the sensor; and returns to the retracted state after the detection plate contacts the upper surface of the pallet, triggering the sensor again.

4. A pop can palletizing gripper as defined in claim 1 wherein: The palletizing gripper drives the detection plate to move upward by a fixed palletizing distance to a palletizing point after detecting the height of the pallet.

5. A pop-on lid palletising gripper according to claim 1 or 3, wherein: The sensor comprises at least one first sensor and at least one second sensor, the first sensor is triggered when the mechanical telescopic mechanism is in the extended state, and the second sensor is triggered when the mechanical telescopic mechanism is in the retracted state.

6. A pop can palletizing gripper as defined in claim 1 wherein: The palletizing gripper further comprises a gripper frame assembly, and the pallet height detection device further comprises a fixing plate, and the pallet height detection device is fixed to the gripper frame assembly through the fixing plate.

7. A grabber for palletizing easy open lids according to claim 6, characterized in that: The palletizing gripper further comprises at least one cap grabbing assembly arranged on the gripper frame assembly, which is used for grabbing and releasing the easy-open cap group.

8. A popper palletizing gripper according to claim 7, characterized in that: The palletizing gripper comprises a plurality of cap grabbing assemblies arranged on both sides of the pallet height detection device.

9. A pop can palletizing gripper as defined in claim 7 wherein: The cap grabbing assembly comprises a cap clamping assembly and a cap pushing assembly, the cap clamping assembly comprises a driving mechanism and at least one set of clamping assemblies, each set of clamping assemblies comprises two oppositely arranged cap clamping plates, the cap clamping plates are in transmission connection with the driving mechanism and can rotate around a selected axis or move linearly in a selected direction under the drive of the driving mechanism, so as to clamp and fix the easy-open cap group between the two cap clamping plates or make the easy-open cap group separate from the cap clamping plates, the selected direction is the direction in which one of the two cap clamping plates points to the other; the cap pushing assembly comprises a pushing plate arranged between the two cap clamping plates of one set of clamping assemblies, which is used for pressing the easy-open cap group.

10. A popper palletizing gripper according to claim 9, characterized in that: The cap grabbing assembly further comprises at least one buffer assembly, and the buffer assembly comprises an elastic element for providing a buffer force when the cap grabbing assembly grabs and releases the easy-open cap group.

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